Vehicle energy recovery control method and device, vehicle controller and vehicle

Abstract

The application discloses a kind of vehicle energy recovery control method, device, whole vehicle controller and vehicle, the method comprises: during vehicle driving, it is judged whether the accelerator pedal of vehicle is released;If the accelerator pedal is released, control vehicle to enter coasting feedback mode;It is judged whether the brake pedal of vehicle is stepped down;If the brake pedal is stepped down, control vehicle to exit coasting feedback mode, and control vehicle to enter brake feedback mode;It is judged whether electronic brake system EBS of vehicle intervenes;If electronic brake system EBS intervenes, obtain intervention torque, and according to intervention torque control vehicle to brake feedback.The vehicle energy recovery control method of the present application increases coasting feedback function according to electronic brake system EBS before brake pedal is stepped down, improves battery recovery efficiency, and the torque when exiting coasting feedback time is latched, so that torque can gently transition to EBS intervention torque, reduce torque variation amplitude, improve vehicle braking process comfort.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a control method, device, vehicle controller, and vehicle for vehicle energy recovery. Background Technology

[0002] To improve battery efficiency, new energy vehicles generally have regenerative braking capabilities. Different manufacturers, considering vehicle safety and driving comfort, will later add auxiliary braking and EBS (Electric Braking System) functions. Among related technologies, there are three main approaches to vehicle regenerative braking: The first, without EBS, relies primarily on calibration personnel to determine the motor's regenerative torque by adjusting different regenerative modes based on driving comfort; the second, with EBS, the vehicle is completely controlled by EBS during braking, and EBS intervenes to control the motor torque after detecting signals such as the driver's brake pedal opening; the third, with EBS, intervention only occurs when the brake pedal is pressed.

[0003] Of the three solutions mentioned above, the first one lacks EBS functionality during braking, relying entirely on the driver to calibrate the motor's feedback torque on standard roads. If the vehicle is on a low-load surface, the chassis braking system may exhibit fishtailing or other phenomena, significantly limiting the vehicle's performance. The second solution relies entirely on EBS control, effectively adapting to smooth braking on various road surfaces. However, it may suffer from a lack of coasting feedback and auxiliary braking, resulting in energy loss during motor deceleration, or higher development costs. The third solution, where the VCU (Vehicle Control Unit) and EBS jointly handle feedback control, is currently used in some models. However, the VCU cannot effectively integrate with the EBS vehicle feedback system, leading to significant torque fluctuations during feedback and resulting in an uneven driving experience. Summary of the Invention

[0004] One objective of this invention is to provide a control method, device, vehicle controller, and vehicle for vehicle energy recovery. The electronic braking system (EBS) adds coasting feedback function before the brake pedal is depressed, which improves battery recovery efficiency. Furthermore, it latches the torque at the moment of exiting coasting feedback, allowing the torque to smoothly transition to the EBS intervention torque, reducing the torque variation amplitude, and improving the comfort of the vehicle braking process.

[0005] To achieve the above objectives, a first aspect of the present invention provides a control method for vehicle energy recovery, the method comprising: during vehicle operation, determining whether the accelerator pedal of the vehicle is released; if the accelerator pedal is released, controlling the vehicle to enter a coasting feedback mode; determining whether the brake pedal of the vehicle is depressed; if the brake pedal is depressed, controlling the vehicle to exit the coasting feedback mode and controlling the vehicle to enter a braking feedback mode; determining whether the vehicle's electronic braking system (EBS) intervenes; if the EBS intervenes, acquiring the intervention torque, and controlling the vehicle to perform braking feedback based on the intervention torque.

[0006] In addition, the vehicle energy recovery control method proposed in the above embodiments of the present invention may also have the following additional technical features:

[0007] According to one embodiment of the present invention, controlling the vehicle to enter the coasting feedback mode includes: calculating the coasting feedback torque of the vehicle; determining the requested motor feedback torque as the coasting feedback torque; and controlling the motor of the vehicle according to the requested motor feedback torque.

[0008] According to one embodiment of the present invention, the coasting feedback torque when the vehicle exits the coasting feedback mode is latched and recorded as the exit coasting feedback torque; the braking feedback torque of the vehicle is calculated; the magnitude between the exit coasting feedback torque and the braking feedback torque is compared; the requested motor feedback torque is determined to be the larger of the exit coasting feedback torque and the braking feedback torque, and the motor is controlled according to the requested motor feedback torque.

[0009] According to one embodiment of the present invention, controlling the vehicle to perform braking feedback based on the intervention torque includes: determining whether the intervention torque reaches the greater of the exit coasting feedback torque and the braking feedback torque; if so, determining the requested motor feedback torque as the intervention torque, and controlling the motor according to the requested motor feedback torque.

[0010] According to one embodiment of the present invention, if the intervention torque does not reach the greater of the exit coasting feedback torque and the braking feedback torque, the requested motor feedback torque is determined to be the greater of the exit coasting feedback torque and the braking feedback torque, and the motor is controlled according to the requested motor feedback torque.

[0011] According to one embodiment of the present invention, when the vehicle stops or the accelerator pedal is pressed again, the vehicle is controlled to exit the feedback mode.

[0012] The vehicle energy recovery control method of this invention controls the vehicle to enter coasting feedback mode when the accelerator pedal is released but a designated pedal is not depressed, thereby improving battery recovery efficiency. It incorporates a calculation method for the smooth transition between two torque types during coasting conditions, combining the current electronic braking system (EBS) which only operates when the brake pedal is depressed, with the vehicle controller (VCU). The torque at the moment of exiting coasting feedback is latched, waiting for the EBS to reach the current torque before responding with EBS intervention torque. If EBS intervention occurs during braking, the system continuously responds to the EBS intervention torque during the braking process. If no EBS intervention occurs during braking, the latched torque at the moment of coasting feedback limits the vehicle's feedback torque until it stops, allowing the torque to smoothly transition to the EBS intervention torque, reducing torque fluctuations and improving vehicle braking comfort.

[0013] To achieve the above objectives, a second aspect of the present invention provides a vehicle energy recovery control device, the device comprising: a first judgment module for determining whether the accelerator pedal of the vehicle is released during vehicle operation; a first control module for controlling the vehicle to enter a coasting feedback mode when the accelerator pedal is released; a second judgment module for determining whether the brake pedal of the vehicle is depressed; a second control module for controlling the vehicle to exit the coasting feedback mode and enter a braking feedback mode when the brake pedal is depressed; a third judgment module for determining whether the vehicle's electronic braking system (EBS) intervenes; and a third control module for acquiring the intervention torque when the EBS intervenes and controlling the vehicle to perform braking feedback based on the intervention torque.

[0014] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle energy recovery control method described above.

[0015] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle controller, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the vehicle energy recovery control method as described above.

[0016] To achieve the above objectives, a fifth aspect of the present invention provides a vehicle including a vehicle energy recovery control device as described above, or a vehicle controller as described above.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] Figure 1 This is a flowchart of a vehicle energy recovery control method according to an embodiment of the present invention;

[0019] Figure 2 This is a flowchart illustrating one embodiment of the present invention for controlling a vehicle to enter a coasting feedback mode;

[0020] Figure 3 This is a timing diagram of a vehicle energy recovery control method according to an embodiment of the present invention;

[0021] Figure 4 This is a flowchart of controlling a vehicle to enter the brake feedback mode according to an embodiment of the present invention;

[0022] Figure 5 This is a flowchart of a method for controlling vehicle braking feedback based on intervention torque according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of a vehicle energy recovery control device according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] The control method, device, vehicle controller, and vehicle for vehicle energy recovery according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0028] Figure 1 This is a flowchart of a vehicle energy recovery control method according to an embodiment of the present invention.

[0029] In one embodiment of the present invention, such as Figure 1 As shown, the control method for vehicle energy recovery includes:

[0030] S1, during vehicle operation, determine whether the accelerator pedal has been released.

[0031] S2: If the accelerator pedal is released, the vehicle will enter coasting feedback mode.

[0032] S3 determines whether the vehicle's brake pedal has been pressed.

[0033] S4: If the brake pedal is depressed, the vehicle will exit coasting feedback mode and enter brake feedback mode.

[0034] S5 determines whether the vehicle's Electronic Braking System (EBS) has intervened.

[0035] S6, if the electronic braking system (EBS) intervenes, the intervention torque is obtained, and the vehicle is controlled to perform braking feedback based on the intervention torque.

[0036] Specifically, the vehicle energy recovery control method of the present invention adopts a combination of VCU and EBS. When the accelerator pedal is released and the brake pedal is not pressed, the vehicle controller (VCU) controls the vehicle to enter the coasting feedback mode. When the brake pedal is pressed, the electronic braking system (EBS) intervenes, so that the vehicle can improve the battery utilization efficiency and smoothly transition from the coasting feedback mode to the electronic braking system (EBS) intervention feedback mode.

[0037] More specifically, such as Figure 1 As shown, during normal vehicle operation, the system continuously monitors whether the accelerator pedal is released. This is determined by the accelerator pedal's opening signal. If the accelerator pedal is released, the vehicle enters a coasting state, and the system controls the vehicle to enter coasting feedback mode. The torque required for coasting feedback mode is calculated by the vehicle controller. Next, the system checks whether the brake pedal is depressed. If the brake pedal is depressed, the vehicle is in a braking state, and the system controls the vehicle to exit coasting feedback mode and enter brake feedback mode. The vehicle's Electronic Braking System (EBS) only intervenes when the brake pedal is depressed. However, in the initial short period of brake feedback mode, the EBS does not intervene. Therefore, after the vehicle enters brake feedback mode, it is necessary to check whether the EBS intervenes. If the EBS intervenes, the intervention torque is obtained, and the vehicle is controlled to perform brake feedback based on the intervention torque.

[0038] In one embodiment of the present invention, such as Figure 2 As shown, controlling the vehicle to enter coasting feedback mode includes:

[0039] S201 calculates the vehicle's coasting feedback torque.

[0040] S202, determine that the requested motor feedback torque is the coasting feedback torque, and control the vehicle's motor according to the requested motor feedback torque.

[0041] Specifically, when a vehicle is traveling at a certain speed and the driver releases the accelerator pedal without pressing the brake pedal, the vehicle is in a coasting state, such as... Figure 3 In the timing diagram of the vehicle energy recovery control method shown, at time t1-t2, the requested motor feedback torque is the coasting feedback torque. The vehicle control unit (VCU) calculates the vehicle's coasting feedback torque, determines the requested motor feedback torque as the coasting feedback torque, and controls the vehicle's motor according to the requested motor feedback torque.

[0042] The requested motor feedback torque is calculated using the following formula:

[0043] T MotReq =T Sld

[0044] Among them, T MotReq It requests feedback torque from the motor, T Sld It is the vehicle's coasting feedback torque.

[0045] When the vehicle is coasting, the motor is controlled by the vehicle's coasting feedback torque. When the driver presses the brake pedal, the motor feedback torque is requested to increase. If the vehicle's coasting feedback torque is no longer sufficient, the vehicle is controlled to enter the brake feedback mode.

[0046] In one embodiment of the present invention, such as Figure 4 As shown, controlling the vehicle to enter regenerative braking mode includes:

[0047] S401, locks the coasting feedback torque when the vehicle exits coasting feedback mode, and records it as the exit coasting feedback torque.

[0048] S402 calculates the vehicle's braking feedback torque.

[0049] S403 compares the magnitude of the exit coasting feedback torque and the braking feedback torque.

[0050] S404, determine that the requested motor feedback torque is the greater of the exit coasting feedback torque and the braking feedback torque, and control the motor according to the requested motor feedback torque.

[0051] Specifically, when the driver presses the brake pedal, such as Figure 3 At time t2, the vehicle enters the regenerative braking state. To ensure vehicle stability and reduce motor torque fluctuations, the regenerative braking torque at the point when the vehicle exits the regenerative braking mode is latched and recorded as the exit torque T. SldEnd The vehicle control unit (VCU) calculates the vehicle's braking regenerative torque T. BrkReg Compare the exit coasting feedback torque T SldEnd and braking feedback torque T BrkReg The value between these two values ​​determines the requested motor feedback torque as the exit coasting feedback torque T. SldEnd and braking feedback torque T BrkRegThe larger of the two values ​​is selected, and the motor is controlled according to the requested motor feedback torque.

[0052] More specifically, in Figure 3 During the time period t2-t3, request the motor feedback torque T. MotReq =MAX(T) SldEnd T BrkReg This allows the vehicle to smoothly transition from slip feedback mode to brake feedback mode, reducing torque variation and improving braking comfort.

[0053] The vehicle's electronic braking system (EBS) only intervenes when the brake pedal is pressed. However, the EBS will not intervene for a short period of time in the early stages of the brake feedback mode. Therefore, after the vehicle enters the brake feedback mode, it is necessary to determine whether the vehicle's electronic braking system (EBS) will intervene. If the electronic braking system (EBS) intervenes, the intervention torque is obtained, and the vehicle is controlled to perform brake feedback based on the intervention torque.

[0054] In one embodiment of the present invention, such as Figure 5 As shown, the vehicle provides braking feedback based on the intervention torque control, including:

[0055] S601 determines whether the intervention torque reaches the greater of the exit coasting feedback torque and the braking feedback torque.

[0056] S602, if the condition is met, the requested motor feedback torque is determined to be the intervention torque, and the motor is controlled according to the requested motor feedback torque.

[0057] Specifically, such as Figure 3 As shown, at time t3, the vehicle's electronic braking system (EBS) begins to intervene, but the intervention torque of the EBS needs to gradually decrease. The intervention torque gradually decreases from 0 until it reaches the vehicle's requested motor feedback torque T at time t4. MotRea If the intervention torque reaches the greater of the exit coasting feedback torque and the braking feedback torque, the latching torque is released, the requested motor feedback torque is determined as the intervention torque, and the motor is controlled according to the intervention torque. That is, after time t4, the requested motor feedback torque T is... MotReq This refers to the intervention torque of the Electronic Braking System (EBS).

[0058] In one embodiment of the present invention, if a plurality of pre-torques fail to reach the greater of the exit coasting feedback torque and the braking feedback torque, then the requested motor feedback torque is determined to be the greater of the exit coasting feedback torque and the braking feedback torque, and the motor is controlled according to the requested motor feedback torque.

[0059] Specifically, after the vehicle's Electronic Braking System (EBS) intervenes, the intervention torque of the EBS needs to gradually decrease. If the intervention torque of the EBS does not reach the greater of the exit coasting feedback torque and the braking feedback torque, i.e. Figure 3 During the time period t3-t4, the requested motor feedback torque is still the larger of the exit coasting feedback torque and the braking feedback torque, i.e., the requested motor feedback torque T. MotReq =MAX(T) SldEnd T BrkReg The intervention torque is determined when the intervention torque of the electronic braking system (EBS) reaches the greater of the coasting feedback torque and the braking feedback torque. The motor is then controlled based on the intervention torque.

[0060] In one embodiment of the invention, when the vehicle stops or the accelerator pedal is pressed again, the vehicle is controlled to exit the feedback mode.

[0061] Specifically, when the vehicle stops or the accelerator pedal is pressed again, the vehicle no longer needs braking torque, and the vehicle exits the feedback mode. Figure 3 The requested motor feedback torque after time t5 is 0. If the accelerator pedal is pressed again, a reset judgment is performed, returning to step S1 to determine whether the accelerator pedal has been released.

[0062] The vehicle energy recovery control method of this invention controls the vehicle to enter coasting feedback mode when the accelerator pedal is released but a designated pedal is not depressed, thereby improving battery recovery efficiency. It incorporates a calculation method for the smooth transition between two torque types during coasting conditions, combining the current electronic braking system (EBS) which only operates when the brake pedal is depressed, with the vehicle controller (VCU). The torque at the moment of exiting coasting feedback is latched, waiting for the EBS to reach the current torque before responding with EBS intervention torque. If EBS intervention occurs during braking, the system continuously responds to the EBS intervention torque during the braking process. If no EBS intervention occurs during braking, the latched torque at the moment of coasting feedback limits the vehicle's feedback torque until it stops, allowing the torque to smoothly transition to the EBS intervention torque, reducing torque fluctuations and improving vehicle braking comfort.

[0063] The present invention also proposes a control device for vehicle energy recovery.

[0064] In embodiments of the present invention, such as Figure 6As shown, the vehicle energy recovery control device 100 includes: a first judgment module 10, used to determine whether the accelerator pedal of the vehicle is released during vehicle operation; a first control module 20, used to control the vehicle to enter the coasting feedback mode when the accelerator pedal is released; a second judgment module 30, used to determine whether the brake pedal of the vehicle is depressed; a second control module 40, used to control the vehicle to exit the coasting feedback mode and control the vehicle to enter the braking feedback mode when the brake pedal is depressed; a third judgment module 50, used to determine whether the vehicle's electronic braking system (EBS) intervenes; and a third control module 60, used to obtain the intervention torque when the electronic braking system (EBS) intervenes, and control the vehicle to perform braking feedback according to the intervention torque.

[0065] It should be noted that other specific embodiments of the vehicle energy recovery control device of the present invention can be found in the specific embodiments of the vehicle energy recovery control method of the above embodiments of the present invention.

[0066] The present invention also proposes a computer-readable storage medium.

[0067] In an embodiment of the present invention, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, it implements the vehicle energy recovery control method as described above.

[0068] The present invention also proposes a vehicle controller.

[0069] In embodiments of the present invention, such as Figure 7 As shown, the vehicle controller 200 includes a memory 70 and a processor 80. The memory 70 stores a computer program, and when the computer program is executed by the processor 80, it implements the vehicle energy recovery control method described above.

[0070] The present invention also proposes a vehicle.

[0071] In embodiments of the present invention, such as Figure 8 As shown, vehicle 300 includes a vehicle energy recovery control device 100 as described above, or a vehicle controller 200 as described above.

[0072] The vehicle energy recovery control method, device, vehicle controller, and vehicle of this invention control the vehicle to enter coasting feedback mode when the accelerator pedal is released but a designated pedal is not depressed, thereby improving battery recovery efficiency. Combining the current electronic braking system (EBS) which only operates when the brake pedal is depressed, this invention incorporates a calculation method for the smooth transition between two torque types during coasting conditions using the vehicle controller (VCU). The torque at the moment of exiting coasting feedback is latched, waiting for the EBS to reach the current torque before responding with EBS intervention torque. If EBS intervention occurs during braking, the system continuously responds to the EBS intervention torque during the braking process. If no EBS intervention occurs during braking, the latched torque at the moment of coasting feedback limits the vehicle's feedback torque until it stops, allowing the torque to smoothly transition to the EBS intervention torque, reducing torque fluctuations and improving vehicle braking comfort.

[0073] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0074] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0075] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0076] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0077] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0078] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0079] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0080] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method of vehicle energy recovery, characterized by, The method comprises: During driving of the vehicle, determining whether an accelerator pedal of the vehicle is released; If the accelerator pedal is released, controlling the vehicle to enter a coasting feedback mode; Determining whether a brake pedal of the vehicle is depressed; If the brake pedal is depressed, controlling the vehicle to exit the coasting feedback mode and enter a braking feedback mode; Determining whether an electronic brake system (EBS) of the vehicle is intervened; If the EBS is intervened, obtaining an intervention torque and controlling the vehicle to brake according to the intervention torque; The controlling the vehicle to enter the coasting feedback mode comprises: Calculating a coasting feedback torque of the vehicle; Determining a requested motor feedback torque as the coasting feedback torque and controlling a motor of the vehicle according to the requested motor feedback torque; The controlling the vehicle to enter the braking feedback mode comprises: Latching a coasting feedback torque when the vehicle exits the coasting feedback mode and recording it as an exit coasting feedback torque; Calculating a braking feedback torque of the vehicle; Comparing the exit coasting feedback torque and the braking feedback torque; Determining the requested motor feedback torque as a larger one of the exit coasting feedback torque and the braking feedback torque and controlling the motor according to the requested motor feedback torque.

2. The control method of vehicle energy recovery according to claim 1, characterized by, The controlling the vehicle to brake according to the intervention torque comprises: Determining whether the intervention torque reaches a larger one of the exit coasting feedback torque and the braking feedback torque; If yes, determining the requested motor feedback torque as the intervention torque and controlling the motor according to the requested motor feedback torque.

3. The control method of vehicle energy recovery according to claim 2, characterized by, If no, determining the requested motor feedback torque as a larger one of the exit coasting feedback torque and the braking feedback torque and controlling the motor according to the requested motor feedback torque.

4. The control method of vehicle energy recovery according to any one of claims 1 to 3, characterized by, The method further comprises: When the vehicle stops or the accelerator pedal is depressed again, controlling the vehicle to exit the feedback mode.

5. A control device for vehicle energy recovery, characterized by comprising: The device comprises: A first determining module, configured to determine whether an accelerator pedal of the vehicle is released during driving of the vehicle; A first controlling module, configured to control the vehicle to enter a coasting feedback mode when the accelerator pedal is released; A second determining module, configured to determine whether a brake pedal of the vehicle is depressed; A second controlling module, configured to control the vehicle to exit the coasting feedback mode and enter a braking feedback mode when the brake pedal is depressed; A third determining module, configured to determine whether an electronic brake system (EBS) of the vehicle is intervened; A third controlling module, configured to obtain an intervention torque and control the vehicle to brake according to the intervention torque when the EBS is intervened; The first controlling module is further configured to calculate a coasting feedback torque of the vehicle, determine a requested motor feedback torque as the coasting feedback torque, and control a motor of the vehicle according to the requested motor feedback torque. The second control module is further configured to: latch the coasting feedback torque when the vehicle exits the coasting feedback mode and record the coasting feedback torque as an exit coasting feedback torque; calculate a braking feedback torque of the vehicle; compare the exit coasting feedback torque and the braking feedback torque; determine the requested motor feedback torque as the greater of the exit coasting feedback torque and the braking feedback torque; and control the motor according to the requested motor feedback torque.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the control method for vehicle energy recovery according to any one of claims 1-4.

7. A vehicle control unit comprising a memory and a processor, said memory having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the control method for vehicle energy recovery according to any one of claims 1-4.

8. A vehicle characterized by comprising: The control device for vehicle energy recovery according to claim 5, or the vehicle controller according to claim 7.

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