A vehicle energy recovery control method, device, electronic device and storage medium

Abstract

The present application relates to the technical field of intelligent vehicles, and provides a vehicle energy recovery control method, device, electronic device and storage medium. The method includes: after the vehicle enters the intelligent recovery mode, collecting the first vehicle mode state parameter of the vehicle, the first real-time road slope and the first real-time vehicle speed when the vehicle is driving on the driving road; if it is determined that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, triggering and starting the recovery torque compensation function, and controlling the vehicle to perform energy recovery with the recovery torque compensation. The present application can achieve adaptive energy recovery adjustment for scenarios with relatively complex and changeable driving road conditions, fully utilize the energy recovery function, improve the energy recovery utilization rate, and enhance the user's driving experience.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent vehicles, and particularly to a vehicle energy recovery control method, device, electronic device, and storage medium. Background Art

[0002] All electric vehicles are equipped with an energy recovery function, which can recover energy during vehicle coasting or braking, improving the driving range of electric vehicles to a certain extent and alleviating range anxiety.

[0003] Currently, the energy recovery modes of electric vehicles mainly include a standard mode and a strong mode. These two energy recovery modes have good energy recovery effects in scenarios where the vehicle driving conditions are relatively simple, but they cannot make adaptive energy recovery adjustments in scenarios where the vehicle driving conditions are complex and changeable, resulting in limited energy recovery function, low energy recovery utilization rate, and easy impact on the driving experience of users. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a vehicle energy recovery control method, device, electronic device, and storage medium to solve the problem that the existing energy recovery modes of electric vehicles cannot make adaptive energy recovery adjustments for scenarios where the driving conditions are complex and changeable, resulting in limited energy recovery function, low energy recovery utilization rate, and easy impact on the driving experience of users.

[0005] In the first aspect of the embodiments of the present application, a vehicle energy recovery control method is provided, including:

[0006] When it is determined that the current battery level of the vehicle meets a preset battery level range, controlling the vehicle to enter the intelligent recovery mode;

[0007] After the vehicle enters the intelligent recovery mode, collecting the first vehicle mode state parameter of the vehicle, the first real-time road slope, and the first real-time vehicle speed when the vehicle is driving on the road;

[0008] If it is determined that the first vehicle mode state parameter, the first real-time road slope, and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, triggering and starting the recovery torque compensation function, and controlling the vehicle to perform energy recovery with recovery torque compensation.

[0009] In the second aspect of the embodiments of the present application, a vehicle energy recovery control device is provided, including:

[0010] A first control module, configured to control the vehicle to enter the intelligent recovery mode when it is determined that the current battery level of the vehicle meets a preset battery level range;

[0011] The acquisition module is configured to acquire the first vehicle mode state parameter of the vehicle, the first real-time road gradient and the first real-time vehicle speed when the vehicle is driving on the driving road after the vehicle enters the intelligent energy recovery mode;

[0012] The second control module is configured to trigger and start the recovery torque compensation function if it is determined that the first vehicle mode state parameter, the first real-time road gradient and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent energy recovery mode, and control the vehicle to perform energy recovery with the recovery torque compensation.

[0013] In the third aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0014] In the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0015] Compared with the prior art, the beneficial effects of the embodiments of the present application at least include: in the scenario where the vehicle is driving on a driving road with relatively complex and changeable road conditions, when it is determined that the current battery power of the vehicle meets the preset power range, the vehicle is controlled to enter the intelligent energy recovery mode; after the vehicle enters the intelligent energy recovery mode, the first vehicle mode state parameter of the vehicle, the first real-time road gradient and the first real-time vehicle speed when the vehicle is driving on the driving road are acquired; if it is determined that the first vehicle mode state parameter, the first real-time road gradient and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent energy recovery mode, the recovery torque compensation function is triggered and started, and the vehicle is controlled to perform energy recovery with the recovery torque compensation, thereby realizing the adaptive adjustment of the energy recovery function of the vehicle in this scenario, giving full play to the energy recovery function, having a relatively high energy recovery utilization rate, and improving the driving experience of the user. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic diagram of an application scenario of an embodiment of the present application;

[0018] Figure 2It is a schematic flow chart of a vehicle energy recovery control method provided by an embodiment of the present application;

[0019] Figure 3 It is a comparative curve graph of energy recovery based on different energy recovery modes provided by an embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of a vehicle energy recovery control device provided by an embodiment of the present application;

[0021] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0022] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0023] A vehicle energy recovery control method and device according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0024] Figure 1 It is a schematic diagram of an application scenario of an embodiment of the present application. This application scenario may include a vehicle control unit (VCU) 101, an IVI 102, and a vehicle 103.

[0025] Among them, IVI (In-vehicle info ainment), that is, an in-vehicle information entertainment system. Generally, it refers to an in-vehicle central control device with a display screen (hereinafter referred to as the "central control large screen").

[0026] The vehicle controller 101 and the IVI 102 can be connected through Ethernet or CAN bus, etc.; the vehicle controller 101 and the vehicle 103 can be connected through Ethernet or CAN bus, etc.

[0027] In some embodiments, the IVI 102 can pre-set three energy recovery modes, namely, "standard recovery mode", "strong recovery mode", and "intelligent recovery mode", and display these three modes on the display screen for the user to select and use any one of the recovery modes or a combined recovery mode.

[0028] During actual use, the user can select the energy recovery mode they want to use, or select the best energy recovery mode recommended by the software, by operating methods such as clicking on the soft key of the energy recovery mode displayed on the IVI 102. When the IVI 102 receives the user's selection operation for the energy recovery mode, it sends a request signal for the selected energy recovery mode to the vehicle controller 101. After receiving this request signal, the vehicle controller 101 feeds back the corresponding mode status to the IVI 102. After receiving the feedback signal from the vehicle controller 101, the IVI 102 sets the corresponding soft key to a highlighted state (such as a highlighted state, etc.) to prompt the user which energy recovery mode the current vehicle is in. For example, if the request signal received by the vehicle controller 101 is for the "intelligent recovery mode", it feeds back the mode status of the "intelligent recovery mode" to the IVI 102. After receiving this feedback signal, the IVI 102 sets the soft key of the "intelligent recovery mode" to a highlighted state to prompt the user that the current vehicle's energy recovery mode is the "intelligent recovery mode". Subsequently, when the vehicle controller 101 determines that the current battery level of the vehicle 103 meets the preset battery level range, it controls the vehicle 103 to enter the "intelligent recovery mode"; after the vehicle enters the intelligent recovery mode, it collects the first vehicle mode status parameter of the vehicle, the first real-time road slope and the first real-time vehicle speed when the vehicle is driving on the road; if it is determined that the first vehicle mode status parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, it triggers and starts the recovery torque compensation function, and controls the vehicle to perform energy recovery with recovery torque compensation. Through the above method, it is possible to adaptively adjust the energy recovery function of the vehicle in scenarios where the driving conditions are relatively complex and changeable, give full play to the energy recovery function, improve the energy recovery utilization rate, and at the same time enhance the user's driving experience.

[0029] In one embodiment, the energy recovery mode set by the user is stored when the vehicle is powered off. When the vehicle is powered on again, the central control large screen IVI 102 reads the stored energy recovery mode and feeds it back to the vehicle controller 101, and the vehicle controller 101 executes the corresponding energy recovery mode function.

[0030] Figure 2 It is a schematic flowchart of a vehicle energy recovery control method provided by an embodiment of the present application. Figure 2 The vehicle energy recovery control method can be executed by Figure 1 the vehicle controller 101. As Figure 2 shown, the vehicle energy recovery control method includes:

[0031] Step S201, when it is determined that the current battery level of the vehicle meets the preset battery level range, control the vehicle to enter the intelligent recovery mode.

[0032] A preset power range can be flexibly set according to the actual situation. For example, 90% (inclusive) to 100% (exclusive), 95% (inclusive) to 100% (exclusive), 98% (inclusive) to 100% (exclusive), etc.

[0033] When the user clicks the soft button corresponding to "Intelligent Recovery Mode" displayed on the central control large screen IVI 102, the vehicle controller 101 can obtain the current power of the vehicle 103 by reading the battery signal of the vehicle 103. Then, it determines whether the current power of the vehicle 103 meets the preset power range; if it meets, it controls the vehicle to enter the intelligent recovery mode; if it does not meet, it does not control the vehicle to enter the intelligent recovery mode and outputs a prompt message (such as a prompt voice, etc.) indicating that the current power of the vehicle does not meet the power requirement of the "Intelligent Recovery Mode". In an exemplary embodiment, assume that the preset power range is 98% (inclusive) to 100% (exclusive), and the current power of the vehicle 103 is 98%. After judgment, it can be determined that the current power of the vehicle 103 meets the preset power range. At this time, the vehicle controller 101 controls the vehicle 103 to enter the "Intelligent Recovery Mode".

[0034] By obtaining the current power of the vehicle and allowing the vehicle to switch to the "Intelligent Recovery Mode" only when it is determined that the current power of the vehicle meets the preset power range, it can ensure that the vehicle enters the intelligent recovery mode when it has a certain energy recovery ability, avoid the problem of overcharging the battery, and is beneficial to improving the safety and effectiveness of energy recovery during the energy recovery process of the vehicle.

[0035] Step S202: After the vehicle enters the intelligent recovery mode, collect the first vehicle mode state parameter of the vehicle, the first real-time road slope and the first real-time vehicle speed when the vehicle is driving on the road.

[0036] Step S203: If it is determined that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, then trigger and start the recovery torque compensation function, and control the vehicle to perform energy recovery with the recovery torque compensation.

[0037] The technical solution provided by the embodiments of the present application controls the vehicle to enter the intelligent energy recovery mode when it is determined that the current power of the vehicle meets a preset power range; after the vehicle enters the intelligent energy recovery mode, the first vehicle mode state parameter of the vehicle, the first real-time road slope and the first real-time vehicle speed when the vehicle is driving on the road are collected; if it is determined that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent energy recovery mode, the recovery torque compensation function is triggered and started, and the vehicle is controlled to perform energy recovery with recovery torque compensation, realizing the adaptive adjustment of the energy recovery function of the vehicle in the scenario where the driving road conditions are relatively complex and changeable, giving full play to the energy recovery function, having a relatively high energy recovery utilization rate, and improving the driving experience of users.

[0038] In some embodiments, in the above step S203, if it is determined that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent energy recovery mode, triggering and starting the recovery torque compensation function may specifically include:

[0039] Perform filtering processing on the first real-time road slope to obtain the first filtered road slope;

[0040] If it is determined that the first vehicle mode state parameter and the first filtered road slope meet the recovery torque compensation triggering conditions in the intelligent energy recovery mode, trigger the recovery torque compensation function;

[0041] Judge whether the first real-time vehicle speed of the vehicle is greater than a preset minimum energy recovery vehicle speed;

[0042] If the first real-time vehicle speed is greater than the preset minimum energy recovery vehicle speed, start the recovery torque compensation function.

[0043] Specifically, after the vehicle controller 101 controls the vehicle to enter the intelligent energy recovery mode, it starts to detect the first real-time road slope of the vehicle 103 on the driving road in real time, and performs filtering processing on the collected first real-time road slope according to the following formula (1) to obtain the first filtered road slope.

[0044] y(t) = K·u(t)+(1 - K)·y(t - 1) (1).

[0045] In formula (1), K is the filtering coefficient, u(t) is the sampling value of this time (that is, the sampling value of the first real-time road slope collected this time), y(t - 1) is the filtering output value of the previous cycle, and y(t) is the output value after filtering this time. The filtering period t can be set according to the actual situation, for example, it can be set to 10 milliseconds, 20 milliseconds, etc.

[0046] In some embodiments, the first vehicle mode status parameters include vehicle mode parameters, vehicle driving status parameters, vehicle braking control system parameters, and switching recovery function parameters. The vehicle mode parameters include current driving mode parameters (including comfort mode, sport mode), and vehicle road mode parameters (off or on). The vehicle driving status parameters include parameters for characterizing whether the whole vehicle is in a drivable state and gear parameters. The vehicle braking control system parameters include ACC (Adaptive Cruise Control) function parameters (activated / deactivated status parameters), ABS (Anti-lock Braking System) function (activated / deactivated status parameters), VDC (Vehicle Dynamics Control) function (activated / deactivated status parameters), AEB (Autonomous Emergency Braking) function (activated / deactivated status parameters), DTC (Diagnostic Trouble Code) function (activated / deactivated status parameters). The switching recovery function parameters include parameters for characterizing whether the low-temperature switching energy recovery function is in a triggered state.

[0047] If it is determined that the first vehicle mode status parameters and the first filtered road slope meet the recovery torque compensation trigger conditions in the intelligent recovery mode, the recovery torque compensation function is triggered, which specifically includes:

[0048] Judge whether the vehicle mode parameters meet the first set condition;

[0049] If the vehicle mode parameters meet the first set condition, judge whether the vehicle driving status parameters meet the second set condition;

[0050] If the vehicle driving status parameters meet the second set condition, judge whether the vehicle braking control system parameters meet the third set condition;

[0051] If the vehicle braking control system parameters meet the third set condition, judge whether the switching recovery function parameters meet the fourth set condition;

[0052] If the switching recovery function parameters meet the fourth set condition, judge whether the first filtered road slope meets the first set slope range;

[0053] If the first filtered road slope meets the first set slope range, trigger the recovery torque compensation function.

[0054] In one embodiment, it is determined whether the vehicle mode parameter meets the first set condition. Specifically, it is determined whether the current driving mode is the comfort mode or the sport mode (ivi_driveModeSts = 0x1: COMFORT / 0x2: SPORT), and whether the vehicle road mode is in the closed state (vcu_TraveModeSts = 0x0: OFF); if the current driving mode is the comfort mode or the sport mode, and the vehicle road mode is in the closed state, it is determined that the vehicle mode parameter meets the first set condition. Next, it is continued to determine whether the whole vehicle is in a drivable state (VCU_driveReady = 0x2: READY), and whether the vehicle gear is in the D gear (VCU_Gear = 0xE: D). If the whole vehicle is in a drivable state, and the vehicle gear is in the D gear, it is determined that the vehicle driving state parameter meets the second set condition. Then, it is continued to determine whether the ACC function is in the unactivated state (MRR_ACCStateForESC = 0x0: OFF mode / 0x1: Passive mode / 0x2: Stand-By mode), whether the ABS function is in the unactivated state (ESP_ABSActive = 0x0: Not Active), whether the VDC function is in the unactivated state (ESP_VDCActive ESP_VDCActive = 0x0: VDC inactive), whether the AEB function is in the unactivated state (ESP_AEBActive = 0x0: Not Activated), and whether the DTC function is in the unactivated state (ESP_torqueIncrReqRearSts = 0x0: INACTIVE, ESP_torqueIncrReqRearSts = 0x0: INACTIVE). If the ACC function, the ABS function, the VDC function, the AEB function, and the DTC function are all in the unactivated state, it is determined that the vehicle braking control system parameter meets the third set condition. Then, it is continued to determine whether the low-temperature switching energy recovery function is in the untriggered state. If so, it is determined that the switching recovery function parameter meets the fourth set condition. Finally, it is determined whether the first filtered road slope is less than -8% and lasts for 0.2 seconds. If so, the recovery torque compensation function is triggered.

[0055] It should be noted that the judgment order of the above judgment steps can be adjusted arbitrarily according to the actual situation without specific restrictions. In one example, the judgment order of the above judgment steps can be adjusted as follows: First, judge whether the first filtered road slope meets the first set slope range; if it meets, then judge whether the switching recovery function parameter meets the fourth set condition; if it meets, then judge whether the vehicle braking control system parameter meets the third set condition; if it meets, then judge whether the vehicle driving state parameter meets the second set condition; if it meets, then judge whether the vehicle mode parameter meets the first set condition; if it meets, then trigger the recovery torque compensation function.

[0056] After triggering the recovery torque compensation function, it is necessary to further collect the first real-time vehicle speed of the vehicle and judge whether the first real-time vehicle speed is greater than the preset minimum energy recovery vehicle speed. Among them, the minimum energy recovery vehicle speed is calibrated by setting corresponding weights according to energy consumption and user comfort respectively. The weights can be set according to user needs. User comfort can be evaluated by acceleration and vehicle driving smoothness. Vehicle smoothness can be evaluated by the torque change rate. The greater the torque change rate, the less smooth the vehicle driving. A large number of actual vehicle test experiments show that for most vehicle models (for example, TBD (New Baojun), etc.), when the vehicle speed is greater than 13 km / h, starting the recovery torque compensation function can obtain better energy recovery effect, better energy recovery utilization rate, and better user driving experience. Therefore, the minimum energy recovery vehicle speed is preferably set to 13 km / h.

[0057] If the first real-time vehicle speed is greater than 13 km / h, then start the recovery torque compensation function. If the first real-time vehicle speed is less than or equal to 13 km / h, then do not start the recovery torque compensation function.

[0058] Based on the above embodiments, controlling the vehicle to perform energy recovery with recovery torque compensation specifically may include:

[0059] Obtain the recovery base torque value after the vehicle enters the intelligent recovery mode;

[0060] According to the first filtered road slope and the first real-time vehicle speed, determine the recovery compensation torque value of the vehicle in the intelligent recovery mode;

[0061] According to the recovery base torque value and the recovery compensation torque value, calculate the target recovery torque value;

[0062] Based on the target recovery torque value, control the vehicle to perform energy recovery.

[0063] The recovery base torque value refers to the recovery torque value when the vehicle enters the intelligent recovery mode but has not triggered the execution of the recovery torque compensation function.

[0064] The regenerative compensation torque value can be obtained by looking up a table (vehicle speed - slope - regenerative torque mapping table) based on the currently detected first filtered road slope and the first real-time vehicle speed.

[0065] In practical applications, based on different road scenarios and combined with real vehicle test data, a mapping table between vehicle speed, slope, and regenerative torque (i.e., vehicle speed - slope - regenerative torque mapping table) can be established for the purpose of driving comfort and energy consumption. The method for the purpose of driving comfort and energy consumption is calibrated by setting corresponding weights according to energy consumption and user comfort respectively. The weights can be set according to user needs. User comfort can be evaluated by acceleration and vehicle driving smoothness, and vehicle smoothness can be evaluated by the torque change rate. The greater the torque change rate, the less smooth the vehicle driving. That is to say, the regenerative torque is a function related to vehicle speed, slope, energy consumption, acceleration, and torque change rate.

[0066] Exemplarily, the established vehicle speed - slope - regenerative torque mapping table is shown in Table 1.

[0067] Table 1 Vehicle speed - slope - regenerative torque mapping table

[0068]

[0069]

[0070] As an example, assume that the first filtered road slope is y 1 and the first real-time vehicle speed is V 1 , then according to y 1 and V 1 , looking up Table 1 shows that the corresponding regenerative compensation torque value is T 21 .

[0071] After that, the target regenerative torque value T 目 can be calculated according to formula (2).

[0072] T 目 = T 基 + T 补 (2);

[0073] In formula (2), T 基 represents the regenerative basic torque value, and T 补 represents the regenerative compensation torque value.

[0074] In some embodiments, based on the target regenerative torque value, controlling the vehicle to perform energy regeneration specifically includes:

[0075] Obtaining the current regenerative torque value of the vehicle's drive motor;

[0076] Calculate the torque difference between the current recuperation torque value and the target recuperation torque value;

[0077] Determine the torque correction gradient according to the torque difference;

[0078] Based on the torque correction gradient, control the drive motor to adjust the current recuperation torque value to the target recuperation torque value.

[0079] Specifically, the vehicle controller 101 can obtain the current recuperation torque value of the drive motor by reading the torque parameter of the drive motor of the vehicle 103. Then, calculate the torque difference between the current recuperation torque value and the target recuperation torque value, where the torque difference = current recuperation torque value - target recuperation torque value.

[0080] In order to improve the smoothness of the energy recuperation adaptive function (i.e., the recuperation torque compensation function) when entering and exiting and stepping on the accelerator pedal and other working conditions, an appropriate torque correction gradient can be determined through the torque difference calculated above. Then, control the drive motor according to the torque correction gradient to adjust the current recuperation torque value to the target recuperation torque value. Generally, the larger the torque difference, the larger the corresponding torque correction gradient; conversely, the smaller the torque difference, the smaller the corresponding torque correction gradient.

[0081] In some embodiments, after controlling the vehicle to perform energy recuperation with recuperation torque compensation, the following steps may further be included:

[0082] Collect the second vehicle mode state parameter, the second real-time road slope, and the second real-time vehicle speed of the vehicle when performing energy recuperation;

[0083] If at least one of the second vehicle mode state parameter, the second real-time road slope, and the second real-time vehicle speed satisfies the condition for exiting the recuperation torque compensation function in the intelligent recuperation mode, then exit the recuperation torque compensation function and control the vehicle to perform energy recuperation without recuperation torque compensation.

[0084] The second vehicle mode state parameter includes the vehicle mode parameter, the vehicle driving state parameter, the vehicle braking control system parameter, and the switching recuperation function parameter.

[0085] In some embodiments, to determine whether the vehicle meets the condition for exiting the recuperation torque compensation function, the specific steps are as follows:

[0086] Judge whether the second vehicle mode state parameter meets the preset exit condition;

[0087] If the second vehicle mode state parameter does not meet the preset exit condition, then judge whether the second real-time road slope meets the second set slope range;

[0088] If the second real-time road slope satisfies the second set slope range, determine whether the second real-time vehicle speed is greater than the preset minimum energy recovery vehicle speed;

[0089] If the second real-time vehicle speed is less than or equal to the preset minimum energy recovery vehicle speed, exit the recovery torque compensation function.

[0090] In one embodiment, determine whether the second vehicle mode state parameter satisfies the preset exit condition, specifically: (1) Whether the whole vehicle is in a non-drivable state (VCU_driveReady = 0x0: NOT_READY); (2) Whether the gear is not in D gear (VCU_Gear ≠ 0xE: D); (3) Whether the ABS function is in an active state (ESP_ABSActive = 0x1: ACTIVE); (4) Whether the ACC function is in an active state (MRR_ACCStateForESC = 0x3: Active-Control mode / 0x4: Override / 0x5: Brake-Only mode / 0x6: Standstill); (5) Whether the VDC function is in an active state (ESP_VDCActive = 0x1: ACTIVE); (6) Whether the AEB function is in an active state (ESP_AEBActive = 0x1: ACTIVE); (7) Whether the DTC function is in an active state (ESP_torqueIncrReqRearSts = 0x1: ACTIVE, ESP_torqueIncrReqFrontSts = 0x1: ACTIVE); (8) Whether the current driving mode is an energy-saving mode or a personalized mode (ivi_driveModeSts = 0x0: ECO / 0x3: PERSONAL); (9) Whether the vehicle road mode is a wet or snowy mode (vcu_TraveModeSts = 0x1: Wet / 0x2: Snow); (10) Whether the low-temperature switching energy recovery function is in a triggered state; (11) The current slope is less than -6% and lasts for 0.2 seconds. If all of the above conditions (1) to (11) are negative, it is determined that the second vehicle mode state parameter does not satisfy the preset exit condition. Continue to determine whether the second real-time vehicle speed is greater than the preset minimum energy recovery vehicle speed. If the second real-time vehicle speed is less than or equal to the preset minimum energy recovery vehicle speed, exit the recovery torque compensation function.

[0091] If at least one of the above conditions (1) to (11) is yes, and / or the second real-time road gradient is less than -6% and lasts for 0.2 seconds, and / or the second real-time vehicle speed is less than or equal to 13 km / h, then it can be determined that the vehicle currently meets the conditions for exiting the recovery torque compensation function in the intelligent recovery mode. At this time, the vehicle controller 101 can control the vehicle to exit the recovery torque compensation function and control the vehicle to perform energy recovery without recovery torque compensation, that is, on the basis that the target recovery torque value is the recovery basic torque value T 基 , calculate the torque difference, determine the torque correction gradient, and based on the torque correction gradient, control the drive motor to adjust the current recovery torque value to the target recovery torque value.

[0092] Any combination of the above optional technical solutions can form an optional embodiment of the present application, which will not be elaborated here one by one.

[0093] Figure 3 is the energy recovery comparison curve graph provided by the embodiment of the present application based on different energy recovery modes.

[0094] It can be seen from Figure 3 that when the driving road gradient of the vehicle is -8% and the vehicle speed is 13 - 100 km / h, the energy recovery effect of adopting the intelligent recovery mode and starting the recovery torque compensation function is significantly better than that of adopting the standard energy recovery (i.e., the standard recovery mode). When the driving road gradient of the vehicle is -8% and the vehicle speed ≤ 13 km / h or ≥ 100 km / h, there is no obvious difference in the energy recovery effect between the intelligent recovery mode and the standard recovery mode. When the driving road gradient of the vehicle is -30% and the vehicle speed is 20 - 60 km / h, the energy recovery effect of adopting the strong energy recovery (i.e., the strong recovery mode) is slightly better than that of adopting the intelligent recovery mode and starting the recovery torque compensation function. When the driving road gradient of the vehicle is -30% and the vehicle speed is ≤ 20 or ≥ 60 km / h, there is no obvious difference in the energy recovery effect between adopting the strong recovery mode or the intelligent recovery mode and starting the recovery torque compensation function.

[0095] In summary, the technical solution provided by the embodiment of the present application adds an intelligent recovery mode on the basis of the original standard recovery mode and strong recovery mode, thus increasing the vehicle function diversity; secondly, by detecting the road gradient and vehicle speed of the vehicle on the driving road in real time in the intelligent recovery mode, when it is determined that the vehicle currently meets the conditions for starting the recovery torque compensation function according to the road gradient and vehicle speed, the recovery torque compensation function is started, so as to adaptively adjust the energy recovery torque of the vehicle. For example, in the case of a large gradient, the energy recovery torque can be controlled to increase, improving the energy recovery utilization rate. During this period, the number of times of stepping on the brake pedal can be reduced, which is beneficial to improving the driving experience of the driver.

[0096] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0097] Figure 4 It is a schematic diagram of a vehicle energy recovery control device provided by an embodiment of the present application. As Figure 4 shown, the vehicle energy recovery control device includes:

[0098] A first control module 401, configured to control the vehicle to enter the intelligent recovery mode when it is determined that the current battery level of the vehicle meets a preset battery level range;

[0099] An acquisition module 402, configured to acquire the first vehicle mode state parameter of the vehicle, the first real-time road slope and the first real-time vehicle speed when the vehicle is driving on the road after the vehicle enters the intelligent recovery mode;

[0100] A second control module 403, configured to trigger and start the recovery torque compensation function if it is determined that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, and control the vehicle to perform energy recovery with the recovery torque compensation.

[0101] The technical solution provided by the embodiment of the present application is that the first control module 401 controls the vehicle to enter the intelligent recovery mode when it is determined that the current battery level of the vehicle meets a preset battery level range; the acquisition module 402 acquires the first vehicle mode state parameter of the vehicle, the first real-time road slope and the first real-time vehicle speed when the vehicle is driving on the road after the vehicle enters the intelligent recovery mode; if the second control module 403 determines that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, it triggers and starts the recovery torque compensation function, and controls the vehicle to perform energy recovery with the recovery torque compensation, realizing the adaptive adjustment of the energy recovery function of the vehicle in the scenario where the driving road conditions are relatively complex and changeable, giving full play to the energy recovery function, having a relatively high energy recovery utilization rate, and improving the driving experience of users.

[0102] In some embodiments, the above-mentioned second control module 403 includes:

[0103] A filtering unit, configured to perform filtering processing on the first real-time road slope to obtain a first filtered road slope;

[0104] A triggering unit, configured to trigger a recovery torque compensation function if it is determined that the first vehicle mode state parameter and the first filtered road gradient meet the recovery torque compensation triggering conditions in the intelligent recovery mode;

[0105] A vehicle speed judgment unit, configured to judge whether the first real-time vehicle speed of the vehicle is greater than a preset minimum energy recovery vehicle speed;

[0106] A starting unit, configured to start the recovery torque compensation function if the first real-time vehicle speed is greater than the preset minimum energy recovery vehicle speed.

[0107] In some embodiments, the first vehicle mode state parameter includes a vehicle mode parameter, a vehicle driving state parameter, a vehicle braking control system parameter, and a switching recovery function parameter.

[0108] The above-mentioned triggering unit may specifically include:

[0109] A first judgment component, configured to judge whether the vehicle mode parameter meets a first set condition;

[0110] A second judgment component, configured to judge whether the vehicle driving state parameter meets a second set condition if the vehicle mode parameter meets the first set condition;

[0111] A third judgment component, configured to judge whether the vehicle braking control system parameter meets a third set condition if the vehicle driving state parameter meets the second set condition;

[0112] A fourth judgment component, configured to judge whether the switching recovery function parameter meets a fourth set condition if the vehicle braking control system parameter meets the third set condition;

[0113] A fifth judgment component, configured to judge whether the filtered road gradient meets a first set gradient range if the switching recovery function parameter meets the fourth set condition;

[0114] A triggering component, configured to trigger the recovery torque compensation function if the first filtered road gradient meets the first set gradient range.

[0115] In some embodiments, the above-mentioned second control module 403 further includes:

[0116] A torque acquisition unit, configured to acquire a recovery base torque value after the vehicle enters the intelligent recovery mode;

[0117] A torque determination unit, configured to determine a recovery compensation torque value of the vehicle in the intelligent recovery mode according to the first filtered road gradient and the first real-time vehicle speed;

[0118] A calculation unit, configured to calculate a target recovery torque value according to the recovery base torque value and the recovery compensation torque value;

[0119] A recovery control unit, configured to control a vehicle to perform energy recovery based on a target recovery torque value.

[0120] In some embodiments, the above-mentioned recovery control unit specifically includes:

[0121] A torque acquisition component, configured to acquire the current recovery torque value of the drive motor of the vehicle;

[0122] A difference calculation component, configured to calculate the torque difference between the current recovery torque value and the target recovery torque value;

[0123] A gradient determination component, configured to determine a torque correction gradient according to the torque difference;

[0124] A torque adjustment component, configured to control the drive motor to adjust the current recovery torque value to the target recovery torque value based on the torque correction gradient.

[0125] In some embodiments, the above-mentioned vehicle energy recovery control device further includes:

[0126] A parameter acquisition module, configured to acquire the second vehicle mode state parameter, the second real-time road slope, and the second real-time vehicle speed of the vehicle when performing energy recovery;

[0127] An exit module, configured to exit the recovery torque compensation function if at least one of the second vehicle mode state parameter, the second real-time road slope, and the second real-time vehicle speed satisfies the condition for exiting the recovery torque compensation function in the intelligent recovery mode, and control the vehicle to perform energy recovery without recovery torque compensation.

[0128] In some embodiments, the above-mentioned exit module specifically includes:

[0129] A first judgment unit, configured to judge whether the second vehicle mode state parameter satisfies a preset exit condition;

[0130] A second judgment unit, configured to judge whether the second real-time road slope satisfies a second set slope range if the second vehicle mode state parameter does not satisfy the preset exit condition;

[0131] A third judgment unit, configured to judge whether the second real-time vehicle speed is greater than a preset minimum energy recovery vehicle speed if the second real-time road slope satisfies the second set slope range;

[0132] An exit unit, configured to exit the recovery torque compensation function if the second real-time vehicle speed is less than or equal to the preset minimum energy recovery vehicle speed.

[0133] It should be understood that the sequence numbers of the steps in the above embodiments do not imply the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0134] Figure 5 is a schematic diagram of the electronic device 5 provided by the embodiments of the present application. As Figure 5 shown, the electronic device 5 of this embodiment includes: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501. When the processor 501 executes the computer program 503, the steps in the above method embodiments are implemented. Alternatively, when the processor 501 executes the computer program 503, the functions of each module / unit in the above device embodiments are implemented.

[0135] The electronic device 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 5 may include, but is not limited to, the processor 501 and the memory 502. Those skilled in the art can understand that Figure 5 merely examples of the electronic device 5 do not constitute a limitation to the electronic device 5, and may include more or fewer components than shown in the figure, or different components.

[0136] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0137] The memory 502 may be an internal storage unit of the electronic device 5. For example, the hard disk or memory of the electronic device 5. The memory 502 may also be an external storage device of the electronic device 5. For example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 5. The memory 502 may also include both the internal storage unit and the external storage device of the electronic device 5. The memory 502 is used to store computer programs and other programs and data required by the electronic device.

[0138] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0139] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of the present application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. The computer program can include computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0140] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle energy recovery control method, characterized in that, it includes: When it is determined that the current battery level of the vehicle meets a preset battery level range, control the vehicle to enter the intelligent recovery mode; After the vehicle enters the intelligent recovery mode, collect the first vehicle mode state parameter of the vehicle, the first real-time road slope and the first real-time vehicle speed when the vehicle is driving on the driving road; If it is determined that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, then trigger and start the recovery torque compensation function, and control the vehicle to perform energy recovery with recovery torque compensation.

2. The method according to claim 1, characterized in that, If it is determined that the first vehicle mode state parameter, the first real-time road slope and the first real-time vehicle speed all meet the triggering and starting conditions of the recovery torque compensation function in the intelligent recovery mode, then triggering and starting the recovery torque compensation function includes: Perform filtering processing on the first real-time road slope to obtain a first filtered road slope; If it is determined that the first vehicle mode state parameter and the first filtered road slope meet the recovery torque compensation trigger conditions in the intelligent recovery mode, then trigger the recovery torque compensation function; Judge whether the first real-time vehicle speed of the vehicle is greater than a preset minimum energy recovery vehicle speed; If the first real-time vehicle speed is greater than the preset minimum energy recovery vehicle speed, then start the recovery torque compensation function.

3. The method according to claim 2, characterized in that, The first vehicle mode state parameter includes a vehicle mode parameter, a vehicle driving state parameter, a vehicle brake control system parameter, and a switching recovery function parameter; If it is determined that the first vehicle mode state parameter and the first filtered road slope meet the recovery torque compensation trigger conditions in the intelligent recovery mode, then triggering the recovery torque compensation function includes: Judge whether the vehicle mode parameter meets the first set condition; If the vehicle mode parameter meets the first set condition, then judge whether the vehicle driving state parameter meets the second set condition; If the vehicle driving state parameter meets the second set condition, then judge whether the vehicle brake control system parameter meets the third set condition; If the vehicle brake control system parameter meets the third set condition, then judge whether the switching recovery function parameter meets the fourth set condition; If the switching recovery function parameter meets the fourth set condition, then judge whether the filtered road slope meets the first set slope range; If the first filtered road slope meets the first set slope range, then trigger the recovery torque compensation function.

4. The method according to claim 2 or 3, characterized in that, Controlling the vehicle to perform energy recovery with recovery torque compensation includes: Obtain the recovery base torque value after the vehicle enters the intelligent recovery mode; Determine the recovery compensation torque value of the vehicle in the intelligent recovery mode according to the first filtered road slope and the first real-time vehicle speed; Calculate the target recovery torque value according to the recovery base torque value and the recovery compensation torque value. Based on the target recovery torque value, control the vehicle to perform energy recovery.

5. The method according to claim 4, wherein, controlling the vehicle to perform energy recovery based on the target recovery torque value includes: obtaining the current recovery torque value of the drive motor of the vehicle; calculating the torque difference between the current recovery torque value and the target recovery torque value; determining a torque correction gradient according to the torque difference; based on the torque correction gradient, controlling the drive motor to adjust the current recovery torque value to the target recovery torque value.

6. The method according to claim 1, wherein, after controlling the vehicle to perform energy recovery with recovery torque compensation, further includes: collecting the second vehicle mode state parameter, the second real-time road gradient, and the second real-time vehicle speed of the vehicle when performing energy recovery; if at least one of the second vehicle mode state parameter, the second real-time road gradient, and the second real-time vehicle speed meets the condition for exiting the recovery torque compensation function in the intelligent recovery mode, then exit the recovery torque compensation function, and control the vehicle to perform energy recovery without recovery torque compensation.

7. The method according to claim 6, wherein, if at least one of the second vehicle mode state parameter, the second real-time road gradient, and the second real-time vehicle speed meets the condition for exiting the recovery torque compensation function in the intelligent recovery mode, then exiting the recovery torque compensation function includes: judging whether the second vehicle mode state parameter meets a preset exit condition; if the second vehicle mode state parameter does not meet the preset exit condition, then judging whether the second real-time road gradient meets a second set gradient range; if the second real-time road gradient meets the second set gradient range, then judging whether the second real-time vehicle speed is greater than a preset minimum energy recovery vehicle speed; if the second real-time vehicle speed is less than or equal to the preset minimum energy recovery vehicle speed, then exit the recovery torque compensation function.

8. A vehicle energy recovery control device, wherein, includes: a first control module configured to control the vehicle to enter the intelligent recovery mode when it is determined that the current battery level of the vehicle meets a preset battery level range; a collection module configured to collect the first vehicle mode state parameter of the vehicle, the first real-time road gradient when the vehicle is driving on the driving road, and the first real-time vehicle speed after the vehicle enters the intelligent recovery mode; a second control module configured to, if it is determined that the first vehicle mode state parameter, the first real-time road gradient, and the first real-time vehicle speed all meet the trigger and start conditions for the recovery torque compensation function in the intelligent recovery mode, then trigger and start the recovery torque compensation function, and control the vehicle to perform energy recovery with recovery torque compensation.

9. An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, when the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, wherein, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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