Electric vehicle energy recovery torque exit speed control method and system

Abstract

The present application relates to electric vehicle control technical field, especially in electric vehicle energy recovery torque exit speed control method and system, solve the problem that electric vehicle cannot give consideration to safety and smoothness when driving wheel lock-up exits energy recovery, the present application calculates the driving wheel slip rate by monitoring the wheel speed, and obtains the torque zero slope according to the slip rate. When slight slip occurs, energy recovery is not exited, when light and moderate slip occurs, energy recovery is slowly exited, when severe slip occurs, energy recovery is quickly exited, so that safety and smoothness are considered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vehicle control, in particular to an electric vehicle energy recovery torque exit speed control method and system. BACKGROUND

[0002] The current electric vehicle generally has an energy recovery function, which is turned on during vehicle sliding or braking, and the kinetic energy of the vehicle is converted into electric energy by the motor and charged into the battery to reduce power consumption and improve the range. Energy recovery is achieved by applying negative torque to the drive motor, which is equivalent to applying an electric brake force to the drive wheels. When the vehicle is driving on low adhesion road, if the combined force of the brake force and the hydraulic brake force is greater than the adhesion force that the drive wheel tire can provide, the wheel will be locked, causing the vehicle to slide or spin, affecting the safety of the vehicle.

[0003] To solve this problem, the current vehicle is generally equipped with an anti-lock braking system, which collects the wheel speeds of the four wheels in real time through the wheel speed sensors arranged on the four wheels and calculates the vehicle speed. When it is detected that the drive wheel speed is significantly lower than the vehicle speed, it is judged that the vehicle has the risk of locking. At this time, the energy recovery torque is quickly reduced to zero with a certain slope and kept at zero torque until the next time the driver steps on the accelerator pedal to restore energy recovery and continuously monitor the wheel speed state.

[0004] The current strategy can well solve the problem of drive wheel locking caused by electric brake force, but because the energy recovery torque decreases too fast, it will cause a significant impact on the vehicle, and the ride comfort of the vehicle will be greatly affected. If the torque decrease speed is slowed down, the energy recovery force will not be able to exit in time when the wheel slips greatly, affecting the safety of the vehicle. SUMMARY

[0005] The present application aims to at least improve one of the technical problems existing in the prior art. To this end, the present application proposes an electric vehicle energy recovery torque exit speed control method.

[0006] The electric vehicle energy recovery torque exit speed control method according to the first aspect of the present application comprises the following steps:

[0007] Step S100, build an electric vehicle energy recovery torque exit speed control scene, specifically including arranging an accelerator pedal opening degree sensor, a brake pedal opening degree sensor, a brake pedal switch and four wheel speed sensors on the vehicle, wherein the accelerator pedal opening degree sensor, the brake pedal opening degree sensor and the brake switch are electrically connected with the vehicle controller, and the four wheel speed sensors are electrically connected with the vehicle chassis controller;

[0008] Step S200, collect the accelerator pedal opening degree, the brake pedal opening degree and the brake pedal switch state, and collect the current wheel speed of the four drive wheels through the four wheel speed sensors and the minimum wheel speed of the driving wheel

[0009] In step S300, the driver desired torque is calculated according to the collected accelerator pedal opening, brake pedal opening, gear and vehicle speed, and then the driver desired torque is filtered to obtain the driver demand torque T according to the vehicle ride comfort requirement. The current wheel speed of the driving wheel is collected and the minimum wheel speed of the driving wheel The slip rate of the minimum wheel speed driving wheel is calculated and the torque zeroing slope x is obtained by table lookup according to the slip rate of the minimum wheel speed driving wheel

[0010] In step S400, it is judged whether the brake pedal switch is in the force pressing state. If not, it is jumped to step S600. If yes, it is jumped to step S500.

[0011] In step S500, it is judged whether the slip rate of the minimum wheel speed driving wheel is in the normal range. If yes, it is jumped to step S600. If not, it is jumped to step S700.

[0012] In step S600, the driver demand torque T is not intervened, and it is jumped to step S900.

[0013] In step S700, the driver demand torque T is decreased to 0 according to the torque zeroing slope x.

[0014] In step S800, it is judged whether the driver steps on the accelerator pedal according to the collected accelerator pedal opening. If yes, the current torque is adjusted and recovered to the driver demand torque T as the final torque output. If not, the current torque is maintained as the final torque output.

[0015] In step S900, the driver demand torque T is output, and the electric vehicle energy recovery torque exit speed control process is completed.

[0016] According to the electric vehicle energy recovery torque exit speed control method, the driving wheel slip rate is calculated by monitoring the wheel speed, and the torque zeroing slope is obtained according to the slip rate. When slight slip occurs, the energy recovery is not exited. When light or moderate slip occurs, the torque zeroing slope x is obtained according to S300, and the energy recovery is slowly exited. When severe slip occurs, the torque zeroing slope x is obtained according to S300, and the energy recovery is quickly exited. Therefore, the safety and ride comfort are considered.

[0017] In a possible implementation manner of the first aspect, in step S300, the driver demand torque T is calculated according to the driver desired torque and the vehicle ride comfort requirement, and the driver demand torque T is calculated according to the driver desired torque and the vehicle ride comfort requirement. ​​​The table calibration basis for obtaining the torque zeroing slope x by looking up the table is that the required torque must decay to 0 nm before the ABS is activated and the vehicle locks up. The table is obtained by actual vehicle calibration on a low-adhesion road surface with a road adhesion coefficient ≤ 0.3.

[0018] In one possible implementation of the first aspect, in step S300, the slip ratio of the drive wheel with the minimum wheel speed is calculated. Including the following:

[0019] ,

[0020] in Represents the current wheel speed of the drive wheels. This represents the minimum wheel speed of the drive wheel.

[0021] In one possible implementation of the first aspect, in step S500, the normal range is the slip ratio range corresponding to safe driving of the electric vehicle and when the ABS is not activated, to avoid tire lock-up or ABS activation. This slip ratio range is generally 0% to 20%.

[0022] In one possible implementation of the first aspect, in step S800, the basis for determining whether the driver has pressed the accelerator pedal is whether the accelerator pedal opening is greater than 5% by collecting data from the accelerator pedal opening sensor. If the accelerator pedal opening is greater than 5%, it is determined that the driver has the intention to accelerate and the driver is considered to have pressed the accelerator pedal.

[0023] According to a second aspect of the present invention, an electric vehicle energy recovery torque exit speed control system is provided, the system being configured to perform the control method as described above, including...

[0024] The data acquisition module includes an accelerator pedal opening sensor, a brake pedal opening sensor, a brake pedal switch, and four-wheel speed sensors. The accelerator pedal opening sensor, brake pedal opening sensor, and brake pedal switch are mounted on the vehicle, while the four-wheel speed sensors are located at the vehicle's wheels. These sensors are used to acquire the accelerator pedal opening, brake pedal opening, and brake pedal switch status, and to collect the current wheel speeds of the four drive wheels. and the minimum wheel speed of the drive wheels ;

[0025] The query and calculation module calculates the driver's required torque T based on the collected accelerator pedal opening and brake pedal opening, and also calculates the current wheel speed of the drive wheels. and the minimum wheel speed of the drive wheels Calculate the slip ratio of the drive wheel with the minimum wheel speed. And based on the slip ratio of the drive wheel at the minimum wheel speed The zero-torque slope x is obtained by looking up a table.

[0026] determining module, configured to determine whether the brake pedal switch is in a force pressing state, determine whether the slip rate of the minimum wheel speed driving wheel is in a normal range, and determine whether the driver steps on the accelerator pedal; determining module, configured to determine whether the brake pedal switch is in a force pressing state, determine whether the slip rate of the minimum wheel speed driving wheel is in a normal range, and determine whether the driver steps on the accelerator pedal;

[0027] adjusting module, configured to decrease the driver demand torque T according to a torque zero slope x to 0.

[0028] output module, configured to output the final torque.

[0029] In a possible implementation of the second aspect, before the output module outputs the final torque, the method further includes adjusting the current torque to the driver demand torque T as the final torque according to the collected accelerator pedal opening degree to determine whether the driver steps on the accelerator pedal.

[0030] The computer storage medium according to the third aspect of the present application, which stores a computer program, wherein the computer program is executed by a processor to implement the electric vehicle energy recovery torque exit speed control method.

[0031] The electric vehicle according to the fourth aspect of the present application, wherein the master control panel of the electric vehicle is equipped with the electric vehicle energy recovery torque exit speed control system.

[0032] Additional aspects and advantages of the present application will be made apparent by the following description. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0034] Figure 1 is a flow chart of the electric vehicle energy recovery torque exit speed control method according to the embodiments of the present application;

[0035] Figure 2 is a calibratable two-axis MAP diagram corresponding to a vehicle model in the electric vehicle energy recovery torque exit speed control method according to the embodiments of the present application. DETAILED DESCRIPTION

[0036] The embodiments of the present application will be described in detail below, and the embodiments described with reference to the drawings are exemplary, and it should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0037] It is to be understood that where an element such as a layer, region or substrate is referred to as being "on" or "connected" to another element, it can be directly on or connected to the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" or "directly connected" to another element, there are no intervening elements present. It will be understood that, when a relationship between elements is described in the application, such as is derived from use of the phrases "is connected to" or "is coupled to", that relationship can be a direct relationship where intervening elements are not present, or an indirect relationship where intervening elements are present.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the terms "may" and "can" include any suitable combining of the items that they introduce. As used in this description, the term "and / or" includes any suitable combining of the items that it connects.

[0039] The terms "first", "second", "third", etc. are used herein to distinguish one element from another and are not intended to imply a particular order or sequence. Also, the terms "comprises", "comprising", "includes", "including" and the like can be used herein, and are meant to encompass the occurrence of zero, one or more of the stated elements. For example, a composition, process, method or apparatus that comprises or includes at least one stated element, can consist of or consist essentially of the stated element or elements. The compositions, processes, methods and apparatuses are not limited to those embodiments that include all of the recited elements or steps.

[0040] The drawings illustrate only some embodiments of the application and are not intended to be limiting. Before any exemplary embodiments are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above-described drawings. The application is capable of other embodiments and of being practiced or being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and not of limitation. The detailed description will discuss example embodiments in more detail.

[0041] The terms "component," "module," "system," "unit," and the like are used herein to generally refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or a combination of software and execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and / or a computer. Also, the units can execute from various computer readable media having various data structures stored thereon. The units can communicate over local and / or remote processes that are in accordance with a signal, such as one or more data packets in a network, from another unit and / or across a network, such as the Internet, from other systems.

[0042] Example 1

[0043] See Figure 1 As shown, this embodiment provides a method for controlling the speed at which energy recovery torque exits in an electric vehicle, including:

[0044] Step S100: Establish an electric vehicle energy recovery torque exit speed control scenario. Specifically, this includes arranging an accelerator pedal opening sensor, a brake pedal opening sensor, a brake pedal switch, and four-wheel speed sensors on the vehicle. The accelerator pedal opening sensor, brake pedal opening sensor, and brake switch are all electrically connected to the vehicle controller, and the four-wheel speed sensors are electrically connected to the vehicle chassis controller.

[0045] Step S200: Collect the accelerator pedal opening, brake pedal opening, and brake pedal switch status; collect the current wheel speed of the four drive wheels using the four-wheel wheel speed sensors. and the minimum wheel speed of the drive wheels ;

[0046] Step S300: Based on the collected accelerator pedal opening, brake pedal opening, gear position, and vehicle speed, a table is consulted (the values ​​in this table are determined by actual vehicle calibration) to calculate the driver's desired torque. Then, based on the overall vehicle ride comfort requirements, the driver's desired torque is filtered to obtain the required torque T. The current wheel speed of the drive wheels is then used as the basis for the calculation. and the minimum wheel speed of the drive wheels Calculate the slip ratio of the drive wheel with the minimum wheel speed. And based on the slip ratio of the drive wheel at the minimum wheel speed The torque zeroing slope x is obtained by looking up a table, where the table is a calibrable two-axis MAP. Its X-axis and Y-axis correspond to the torque zeroing slope x and slip ratio S, respectively. x is the torque zeroing slope, with units of Nm / S. Adaptive calibration can be performed based on the vehicle's actual safety and ride comfort performance. (See reference...) Figure 2 The image shown is a calibrable two-axis MAP corresponding to a certain vehicle model;

[0047] Step S400: Determine whether the brake pedal switch is in the applied pressure state. If not, proceed to step S600; if yes, proceed to step S500.

[0048] Step S500: Determine the slip ratio of the drive wheel with the minimum wheel speed. Is it within the normal range? If yes, proceed to step S600; otherwise, proceed to step S700.

[0049] In step S600, no intervention is made in the driver's required torque T, and the process jumps to step S900.

[0050] Step S700, the driver demand torque T is reduced to 0 according to the zero torque slope x;

[0051] Step S800, according to the collected accelerator pedal opening, it is judged whether the driver steps on the accelerator pedal, if yes, the current torque adjustment is recovered to the driver demand torque T as the final torque output, if not, the current torque is maintained as the final torque output, wherein the current torque refers to the torque calculated in the last period of the driver demand torque;

[0052] Step S900, the driver demand torque is output, and the electric vehicle energy recovery torque exit speed control process is completed.

[0053] According to the electric vehicle energy recovery torque exit speed control method, the slip rate of the drive wheel is calculated by monitoring the wheel speed, and the torque zero slope is obtained according to the slip rate. When slight slip occurs, energy recovery is not exited, when light and moderate slip occurs, the torque zero slope x is obtained according to S300, and energy recovery is slowly exited, when severe slip occurs, the torque zero slope x is obtained according to S300, and energy recovery is quickly exited, so that safety and smoothness are considered.

[0054] It should be noted that in step S300, the slip rate of the minimum wheel speed drive wheel is calculated according to the minimum wheel speed drive wheel The table calibration basis in the torque zero slope x obtained by table lookup is that the demand torque is attenuated to 0 nm before the vehicle ABS is activated, and the table is obtained by real vehicle calibration on low adhesion road surface with road surface adhesion coefficient ≤0.3, as shown in Figure 2 .

[0055] It should be noted that in step S300, the slip rate of the minimum wheel speed drive wheel is calculated according to the minimum wheel speed drive wheel Including the following:

[0056] ,

[0057] Wherein represents the current wheel speed of the drive wheel, represents the minimum wheel speed of the drive wheel.

[0058] It should be noted that in step S500, the normal range is the slip rate range corresponding to the safe driving of the electric vehicle and the non-activation of ABS, to avoid tire lock or ABS activation, and the slip rate range is generally 0% ~ 20%.

[0059] It should be noted that in step S800, the basis for judging whether the driver steps on the accelerator pedal is that the accelerator pedal opening is collected by the accelerator pedal opening sensor, and if the accelerator pedal opening is greater than 5%, it is considered that the driver has acceleration intention, and it is considered that the driver steps on the accelerator pedal.

[0060] Example 2

[0061] This embodiment provides an electric vehicle energy recovery torque exit speed control system, the system being used to execute the control method described above, including...

[0062] The data acquisition module includes an accelerator pedal opening sensor, a brake pedal opening sensor, a brake pedal switch, and four-wheel speed sensors. The accelerator pedal opening sensor, brake pedal opening sensor, and brake pedal switch are mounted on the vehicle, while the four-wheel speed sensors are located at the vehicle's wheels. These sensors are used to acquire the accelerator pedal opening, brake pedal opening, and brake pedal switch status, and to collect the current wheel speeds of the four drive wheels. and the minimum wheel speed of the drive wheels ;

[0063] The query and calculation module calculates the driver's required torque T based on the collected accelerator pedal opening and brake pedal opening, and also calculates the current wheel speed of the drive wheels. and the minimum wheel speed of the drive wheels Calculate the slip ratio of the drive wheel with the minimum wheel speed. And based on the slip ratio of the drive wheel at the minimum wheel speed The zero-torque slope x is obtained by looking up a table.

[0064] The judgment module is used to determine whether the brake pedal switch is in the depressed state and to determine the slip ratio of the drive wheel with the lowest wheel speed. Whether it is within the normal range and whether the driver has pressed the accelerator pedal;

[0065] The adjustment module is used to reduce the driver's required torque T to 0 according to the torque zeroing slope x;

[0066] Output module, used to output the final torque.

[0067] It should be noted that before the output module outputs the final torque, it also includes determining whether the driver has pressed the accelerator pedal based on the collected accelerator pedal opening, and then adjusting the current torque to restore it to the torque T required by the driver before using it as the final torque output.

[0068] Example 3

[0069] This embodiment provides a computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the above-described electric vehicle energy recovery torque exit speed control method.

[0070] Example 4

[0071] The embodiment provides an electric vehicle, wherein a master control panel of the electric vehicle is equipped with the electric vehicle energy recovery torque exit speed control system.

[0072] Additional aspects and advantages of the present application will be made apparent from the following description.

[0073] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0074] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example.

[0075] It is clear that the described embodiments are only a part of the embodiments of the present application, not all the embodiments. In this paper, "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification is not necessarily the same embodiment, nor is it independent or alternative to other embodiments or alternative embodiments. It is obvious for those skilled in the art to understand that the embodiments described herein can be combined with other embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0076] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. An electric vehicle energy recovery torque exit speed control method, characterized by, include: Step S100: Establish an electric vehicle energy recovery torque exit speed control scenario. Specifically, this includes arranging an accelerator pedal opening sensor, a brake pedal opening sensor, a brake pedal switch, and four-wheel speed sensors on the vehicle. The accelerator pedal opening sensor, brake pedal opening sensor, and brake switch are all electrically connected to the vehicle controller, and the four-wheel speed sensors are electrically connected to the vehicle chassis controller. Step S200, collect the accelerator pedal opening, brake pedal opening and brake pedal switch state, through the four-wheel speed sensor to collect the current wheel speed of the four driving wheels and the minimum wheel speed of the driving wheel ; Step S300: Based on the collected accelerator pedal opening, brake pedal opening, gear position, and vehicle speed, calculate the driver's desired torque from a table. Then, based on the overall vehicle ride comfort requirements, filter the driver's desired torque to calculate the required torque T. The current wheel speed of the drive wheels is also used as a reference. and the minimum wheel speed of the drive wheels Calculate the slip ratio of the drive wheel with the minimum wheel speed. And based on the slip ratio of the drive wheel at the minimum wheel speed The zero-torque slope x is obtained by looking up a table. Step S400: Determine whether the brake pedal switch is in the applied pressure state. If not, proceed to step S600; if yes, proceed to step S500. Step S500, judging the slip ratio of the minimum wheel speed drive wheel whether it is in the normal range, if so, jumping to step S600, if not, jumping to step S700; In step S600, no intervention is made in the driver's required torque T, and the process jumps to step S900. Step S700: Reduce the driver's required torque T to 0 according to the torque zeroing slope x; Step S800: Determine whether the driver has pressed the accelerator pedal based on the collected accelerator pedal opening. If yes, adjust the current torque to restore it to the torque T required by the driver and use it as the final torque output. If not, maintain the current torque as the final torque output. In step S900, the required torque T for the driver is output, completing the process of exiting speed control for energy recovery torque of the electric vehicle.

2. The electric vehicle energy recovery torque exit speed control method according to claim 1, characterized in that, In step S300, the minimum wheel speed is determined according to the slip rate of the drive wheel The table look-up is performed to obtain the table calibration in the torque zeroing slope x. The basis for the calibration is that the required torque is to be attenuated to 0 nm before the ABS is activated due to the vehicle being locked.

3. The electric vehicle energy recovery torque exit speed control method according to claim 1, characterized in that, In the step S300, the slip ratio of the minimum wheel speed drive wheel is calculated comprising: ， wherein represents a current wheel speed of the drive wheel, represents a minimum wheel speed of the drive wheel.

4. The electric vehicle energy recovery torque roll-off speed control method of claim 1 wherein, In step S500, the normal range is the slip ratio range corresponding to safe driving of the electric vehicle and when the ABS is not activated, specifically 0% to 20%.

5. The electric vehicle energy recovery torque roll-off speed control method of claim 1 wherein, In step S800, the basis for determining whether the driver has pressed the accelerator pedal is whether the accelerator pedal opening is greater than 5% by the accelerator pedal opening sensor. If the accelerator pedal opening is greater than 5%, it is considered that the driver has pressed the accelerator pedal.

6. The electric vehicle energy recovery torque roll-off speed control method of claim 2, wherein, The table was obtained from actual vehicle calibration on a low-adhesion road surface with a road adhesion coefficient ≤ 0.

3.

7. A torque exit speed control system for energy recovery in electric vehicles, characterized in that, The system is used to execute the control method as described in any one of claims 1 to 6, including: The data acquisition module includes an accelerator pedal opening sensor, a brake pedal opening sensor, a brake pedal switch, and four-wheel speed sensors. The accelerator pedal opening sensor, brake pedal opening sensor, and brake pedal switch are mounted on the vehicle, while the four-wheel speed sensors are located at the vehicle's wheels. These sensors are used to acquire the accelerator pedal opening, brake pedal opening, and brake pedal switch status, and to collect the current wheel speeds of the four drive wheels. and the minimum wheel speed of the drive wheels ; The query and calculation module calculates the driver's required torque T based on the collected accelerator pedal opening and brake pedal opening, and also calculates the current wheel speed of the drive wheels. and the minimum wheel speed of the drive wheels Calculate the slip ratio of the drive wheel with the minimum wheel speed. And based on the slip ratio of the drive wheel at the minimum wheel speed The zero-torque slope x is obtained by looking up a table. The judgment module is used to determine whether the brake pedal switch is in the depressed state and to determine the slip ratio of the drive wheel with the lowest wheel speed. Whether it is within the normal range and whether the driver has pressed the accelerator pedal; The adjustment module is used to reduce the driver's required torque T to 0 according to the torque zeroing slope x; Output module, used to output the final torque.

8. The electric vehicle energy recovery torque exit speed control system according to claim 7, characterized in that, Before the output module outputs the final torque, it also includes determining whether the driver has pressed the accelerator pedal based on the collected accelerator pedal opening, adjusting the current torque to restore it to the torque T required by the driver, and then using it as the final torque output.

9. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the electric vehicle energy recovery torque exit speed control method according to any one of claims 1 to 6.

10. An electric vehicle, characterized in that, The main control panel of the electric vehicle is equipped with the electric vehicle energy recovery torque exit speed control system as described in claim 8.

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