Energy recovery control method and device, electronic equipment and storage medium

Abstract

The embodiment of the application discloses an energy recovery control method and device, electronic equipment and storage medium, relates to the technical field of energy recovery, and the method comprises the following steps: receiving a braking request, determining a target braking torque based on the braking request; in the case of considering the crankshaft torque limit and the axle torque limit, calculating the maximum rising rate of the regenerative braking torque; obtaining the current motor braking torque, determining the target regenerative braking torque rising rate according to the current motor braking torque and the target braking torque; and controlling the braking torque of the motor with the target regenerative braking torque rising rate. The embodiment of the application compares the motor braking torque with the target braking torque, and determines the target regenerative braking torque rising rate of the front axle and the rear axle in combination with the maximum rising rate of the regenerative braking torque, so as to realize the control of the braking torque of the front axle and the rear axle according to the target regenerative braking torque rising rate. In the case of ensuring safe driving and user experience, the energy recovery is performed as much as possible.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of energy recovery technology, specifically to an energy recovery control method, device, electronic device, and storage medium. Background Technology

[0002] To improve the driving range of electric vehicles and achieve energy conservation, most electric vehicles are equipped with a regenerative braking system. This system recovers excess energy released during braking or coasting, converts it into electrical energy via a generator, and stores it in the battery for later acceleration.

[0003] During braking, the motor can operate in generator mode, producing braking torque on the drive shaft to decelerate the vehicle and achieve a braking effect. Simultaneously, some of the vehicle's braking energy can be converted into electrical energy and stored. The main task of regenerative braking is to rationally distribute the braking torque between the front and rear axles, utilizing the motor's braking torque as much as possible while ensuring smoothness and safety during braking.

[0004] Currently, the distribution of electric braking torque between the front and rear motors during the energy recovery process in electric vehicles is not very reasonable. In most cases, the electric braking torque distributed between the two motors is equal. If the electric braking torque between the front and rear motors is equally distributed, the actual braking effect of the vehicle will be significantly reduced. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide an energy recovery control method, device, electronic device and storage medium, which can recover energy to the greatest extent possible while ensuring safe driving and user experience.

[0006] To address the above problems, the first aspect of this invention discloses an energy recovery control method, comprising:

[0007] Receive a braking request and determine the target braking torque based on the braking request;

[0008] Calculate the maximum rate of increase of regenerative braking torque, taking into account crankshaft torque limitations and wheel axle torque constraints.

[0009] Obtain the current motor braking torque, and determine the target regenerative braking torque rise rate based on the current motor braking torque and the target braking torque:

[0010]

[0011] Where, ΔT μ Let T0 be the target regenerative braking torque increase rate, and T be the target braking torque. c ΔT represents the current motor braking torque. maxα is the maximum rate of increase of regenerative braking torque; α is the braking increase coefficient.

[0012] The braking torque of the motor is controlled by the target regenerative braking torque rise rate.

[0013] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0014] Based on the braking request, the target braking intensity and target total braking force are determined, and the target braking forces of the front and rear axles are determined according to the target braking intensity and total braking force.

[0015] The target braking torque of the front and rear axles is determined based on the target braking force of the front and rear axles.

[0016] The braking torque of the front axle motor and the rear axle motor is controlled by the target regenerative braking torque rise rate.

[0017] As an optional implementation, in a first aspect of the present invention, determining the target braking force of the front and rear axles based on the target braking intensity and the target total braking force includes:

[0018] When the target braking intensity is less than the first preset threshold, braking force is provided only through the front axle, that is, the target braking force of the front axle is the target total braking force;

[0019] When the target braking intensity is greater than or equal to the first preset threshold and less than the second preset threshold, the front and rear axles provide braking force according to the ECE regulation curve.

[0020] When the target braking intensity is greater than or equal to the second preset threshold, regenerative braking is discontinued, and mechanical braking is used.

[0021] As an optional implementation, in a first aspect of the present invention, when the target braking intensity is greater than or equal to a first preset threshold and less than a second preset threshold, the front and rear axles provide braking force according to the ECE regulatory curve, including:

[0022]

[0023] F = F μf +F xf +F xr

[0024] Among them, F xf The target braking force is the front axle motor; the vehicle is front-wheel drive. F uf For front axle hydraulic braking force, F xr For the target braking force of the rear axle motor, when FF xmax When >0,

[0025] Fxf +F xr =F xmax F xmax β is the maximum electric motor power, and β is the front axle electric motor power distribution coefficient, with β ranging from 0.82 to 0.95.

[0026] As an optional implementation, in a first aspect of the present invention, determining the target braking torque of the front and rear axles based on the target braking force of the front and rear axles includes:

[0027] T xf =F xf ×a

[0028] T xr =F xr ×b

[0029] Among them, T xf For the target braking torque of the front axle, F xf For the target braking force of the front axle motor, T xr F is the target braking torque for the rear axle. xr The target braking force is the rear axle motor, and a and b are the distances from the front axle and rear axle to the vehicle's center of gravity, respectively.

[0030] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0031] The motor torque capacity and noise value are obtained. When the motor torque capacity is less than the preset capacity and the noise value is greater than the preset noise value, the motor braking is disabled.

[0032] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0033] If the difference between the current motor braking torque and the target braking torque is greater than a third preset threshold, then the motor braking is disabled.

[0034] A second aspect of the present invention discloses an energy recovery control device, comprising:

[0035] A receiving unit is configured to receive a braking request and determine a target braking torque based on the braking request.

[0036] The calculation unit is used to calculate the maximum rate of increase of regenerative braking torque, taking into account crankshaft torque limitations and wheel axle torque constraints.

[0037] The determining unit is used to acquire the current motor braking torque and determine the target regenerative braking torque rise rate based on the current motor braking torque and the target braking torque.

[0038]

[0039] Where, ΔT μ Let T0 be the target regenerative braking torque increase rate, and T be the target braking torque. c ΔT represents the current motor braking torque. max α is the maximum rate of increase of regenerative braking torque; α is the braking increase coefficient.

[0040] A control unit is used to control the braking torque of the motor at the target regenerative braking torque rise rate.

[0041] A third aspect of the present invention discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, it implements the steps of the energy recovery control method disclosed in the first aspect of the present invention.

[0042] A fourth aspect of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to perform the steps of the energy recovery control method disclosed in the first aspect of the present invention.

[0043] The fifth aspect of this invention discloses a computer program product that, when run on a computer, causes the computer to execute the steps of the energy recovery control method disclosed in the first aspect of this invention.

[0044] The sixth aspect of this invention discloses an application publishing platform for publishing computer program products, wherein when the computer program products are run on a computer, the computer executes the steps of the energy recovery control method disclosed in the first aspect of this invention.

[0045] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows:

[0046] This invention compares the motor braking torque with the target braking torque, and then determines the target regenerative braking torque rise rate for the front and rear axles by combining the maximum rise rate of the regenerative braking torque. Based on the regenerative braking force distribution mechanism of the front and rear axles, the braking torque of the front and rear axles is controlled according to the target regenerative braking torque rise rate. That is, the braking torque of the front and rear axles is adjusted according to the corresponding target regenerative braking torque rise rate, so as to maximize energy recovery while ensuring safe driving and user experience. Attached Figure Description

[0047] Figure 1 This is a schematic flowchart of an energy recovery control method disclosed in an embodiment of the present invention;

[0048] Figure 2This is a schematic flowchart of another energy recovery control method disclosed in an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the structure of an energy recovery control device disclosed in an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the structure of the allocation unit disclosed in an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention. Detailed Implementation

[0052] This specific embodiment is merely an explanation of the embodiments of the present invention and is not intended to limit the embodiments of the present invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the embodiments of the present invention, they are protected by patent law.

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the embodiments of the present invention.

[0054] The term "comprising" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0055] In embodiments of the present invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0056] This invention discloses an energy recovery control method, device, electronic device, and storage medium. By comparing the motor braking torque and the target braking torque, and combining the maximum increase rate of regenerative braking torque, the target increase rate of regenerative braking torque for the front and rear axles is determined. Then, based on the regenerative braking force distribution mechanism of the front and rear axles, the braking torque of the front and rear axles is controlled according to the target increase rate of regenerative braking torque. That is, the braking torque of the front and rear axles is adjusted according to the corresponding target increase rate of regenerative braking torque. While ensuring safe driving and user experience, energy recovery is maximized. The following is a detailed description with reference to the accompanying drawings.

[0057] Example 1

[0058] Please see Figure 1 , Figure 1 This is a schematic flowchart of an energy recovery control method disclosed in one embodiment of the present invention. Figure 1 As shown, the energy recovery control method includes:

[0059] S110. Receive a braking request and determine the target braking torque based on the braking request.

[0060] The brake pedal sensor can determine the braking torque required by the driver, which is denoted as the target braking torque. This braking torque is used to brake the vehicle to achieve braking or deceleration. In this embodiment of the invention, energy recovery is mainly performed on the braking of the vehicle during driving. During the energy recovery process, obvious jerking sensation caused during braking is avoided as much as possible, so as not to affect the driving or riding experience.

[0061] S120. Considering crankshaft torque limitations and wheel axle torque constraints, calculate the maximum rate of increase of regenerative braking torque.

[0062] Crankshaft torque and wheel axle torque have a certain impact on the rate of increase of regenerative braking torque. By comprehensively considering the influence of crankshaft torque and wheel axle torque on regenerative rotational torque, a more accurate maximum rate of increase of regenerative braking torque can be determined.

[0063] In a preferred embodiment of the present invention, the maximum rate of increase of regenerative braking torque can be calculated by obtaining the corresponding rate of increase of regenerative braking torque under different crankshaft torques and wheel axle torques through multiple experiments.

[0064] The maximum rate of increase of regenerative braking torque refers to the maximum rate of change of the motor braking torque per unit time when the target vehicle is braking. To avoid noticeable jerking during braking and affecting the driving or riding experience, this maximum rate of increase cannot be used for all braking operations. When the current braking torque differs significantly from the target braking torque, a larger rate of increase in regenerative braking torque can be used to achieve the target braking torque in a shorter time. Conversely, when the difference between the current and target braking torques is small, a smaller rate of increase in regenerative braking torque should be used to avoid jerking.

[0065] S130. Obtain the current motor braking torque, and determine the target regenerative braking torque rise rate based on the current motor braking torque and the target braking torque:

[0066]

[0067] Where, ΔT μ Let T0 be the target regenerative braking torque increase rate, and T be the target braking torque. c ΔT represents the current motor braking torque. max α is the maximum rate of increase of regenerative braking torque; α is the braking increase coefficient, which can be set as needed, generally between 1.1 and 1.2. When, ΔT μ Take ΔT max .

[0068] In a preferred embodiment of the present invention, the target regenerative braking torque increase rate is achieved using a linear function. The reason for using a linear function is twofold:

[0069] 1. Avoid the jerking sensation caused by sudden changes in the current motor braking torque. A sudden increase or decrease in the current motor braking torque rise rate will cause the car to jerk and will also affect the vehicle's service life. However, by using a linear target regenerative braking torque rise rate, the change is imperceptible to the driver or passengers, thus improving the user experience.

[0070] 2. As can be determined from the above formula, the current motor braking torque gradually increases with time, thereby causing the target regenerative braking torque increase rate to gradually decrease with time. During this process, the vehicle can be braked stably, avoiding skidding or rollover, thus ensuring driving safety.

[0071] Of course, in some cases, regenerative braking needs to be discontinued, meaning the motor braking torque is not controlled according to the target regenerative braking torque rise rate calculated by the above formula. For example, when the motor torque capacity is less than the preset capacity and the noise level is greater than the preset noise level, motor braking is disabled. However, if the difference between the current motor braking torque and the target braking torque is greater than the third preset threshold, then motor braking is deactivated. That is, when the current motor braking torque is much less than the target braking torque, regardless of the motor torque capacity and noise level, the target regenerative braking torque rise rate calculated by the above formula is used to control the change in the current motor braking torque upon receiving a braking request.

[0072] S140, control the braking torque of the motor with the target regenerative braking torque rise rate.

[0073] The above calculations yield a curve showing the rate of increase of the target regenerative braking torque over time. This curve is a line segment with a negative slope. The change in the motor's braking torque is controlled by this curve, meaning the rate of change of the motor's braking torque corresponds to this curve, until the motor's braking torque reaches the target braking torque.

[0074] In some other cases, if the maximum value of the motor's braking torque still falls short of the target braking torque, the remaining portion is compensated for through hydraulic braking. The motor's braking torque is controlled by the target regenerative braking torque escalation rate until the motor's braking torque reaches the target braking torque or its maximum value.

[0075] In Embodiment 1 of the present invention, a linear change curve of the motor braking torque is constructed based on the maximum rate of increase of regenerative braking torque, so that the motor braking torque steadily increases until the braking demand is met, ensuring driving safety and improving user experience.

[0076] Example 2

[0077] Example 2 is an improvement on Example 1. It distributes the motor braking torque to the front and rear axles according to a certain distribution mechanism, thereby maximizing energy recovery while ensuring driving safety.

[0078] Please see Figure 2 , Figure 2 This is a schematic flowchart of another energy recovery control method disclosed in one embodiment of the present invention. Figure 2 As shown, the energy recovery control method includes:

[0079] S210. Receive a braking request and determine the target braking torque, target braking intensity, and target total braking force based on the braking request.

[0080] The brake pedal sensor determines the driver's required braking torque, denoted as the target braking torque. The target braking intensity is the ratio of the maximum braking deceleration that prevents wheel lock-up to the coefficient of friction between the wheel and the road surface, which can be determined by obtaining the road surface friction coefficient. The method for obtaining the road surface friction coefficient is a conventional existing technology and will not be elaborated upon here.

[0081] Based on the target braking intensity, the total target braking force can be determined, denoted as F. The relationship between this total braking force and the target braking intensity is as follows: in, Let G be the target braking intensity and G be the vehicle's weight.

[0082] S220. Considering crankshaft torque limitations and wheel axle torque constraints, calculate the maximum rate of increase of regenerative braking torque.

[0083] S230. Obtain the current motor braking torque, and determine the target regenerative braking torque rise rate based on the current motor braking torque and the target braking torque:

[0084]

[0085] Where, ΔT μ Let T0 be the target regenerative braking torque increase rate, and T be the target braking torque. c ΔT represents the current motor braking torque. max α is the maximum rate of increase of regenerative braking torque; α is the braking increase coefficient, which can be set as needed, generally between 1.1 and 1.2. When, ΔT μ Take ΔT max .

[0086] Steps S220-S230 are similar to steps S120-S130 in Embodiment 1, and will not be described again here.

[0087] S240. Determine the target braking force for the front and rear axles based on the target braking intensity and the target total braking force.

[0088] In a preferred embodiment of the present invention, energy recovery is maximized by rationally distributing the braking force between the front and rear axles.

[0089] There are three possible scenarios:

[0090] 1. When the braking intensity is less than the first preset threshold, the vehicle is in a light braking mode. At this time, since the braking force required by the vehicle is small, the braking can be completed by the front axle alone. The total target braking force is completed by the target braking force of the front axle, and the hydraulic braking does not participate.

[0091] That is: F xf =F, F xr=0.

[0092] F xf For the target braking force of the front axle motor, F xr The target braking force is provided for the rear axle motor.

[0093] 2. When the target braking intensity is greater than or equal to the first preset threshold and less than the second preset threshold, the front and rear axles provide braking force according to the ECE regulation curve.

[0094] ECE regulations stipulate that for dual-axle hybrid electric vehicles with a coefficient of friction in the range of 0.2 to 0.8, the braking strength must meet the following requirements: Therefore, in a preferred embodiment of the present invention, the first preset threshold is set to 0.15 and the second preset threshold is set to 0.7.

[0095] According to the ECE regulatory curve, the target braking forces for the front and rear axles are as follows:

[0096]

[0097] F = F μf +F xf +F xr

[0098] Among them, F xf The target braking force is the front axle motor; the vehicle is front-wheel drive. F uf For front axle hydraulic braking force, F xr For the target braking force of the rear axle motor, when FF xmax When >0, F xf +F xr =F xmax F xmax β is the maximum electric motor power, and β is the front axle electric motor power distribution coefficient, with β ranging from 0.82 to 0.95.

[0099] 3. When the target braking intensity is greater than or equal to the second preset threshold, regenerative braking is discontinued, and mechanical braking is used.

[0100] In this case, without considering regenerative braking, how mechanical braking achieves the distribution of braking force between the front and rear axles is beyond the scope of this invention and will not be explained or described here.

[0101] S250, determine the target braking torque of the front and rear axles based on the target braking force of the front and rear axles.

[0102] Once the target braking force on the front and rear axles is determined, the target braking torque on the front and rear axles can be determined based on the relationship between force and torque.

[0103] T xf =Fxf ×a

[0104] T xr =F xr ×b

[0105] Among them, T xf For the target braking torque of the front axle, F xf For the target braking force of the front axle motor, T xr F is the target braking torque for the rear axle. xr The target braking force for the rear axle motor is given by , and a and b are the distances from the front axle and rear axle to the vehicle's center of gravity, respectively. , represents the vehicle's basic parameters.

[0106] S260, control the braking torque of the front axle motor and the rear axle motor with the target regenerative braking torque rise rate.

[0107] Following a method similar to step S140 in Embodiment 1, the linear change curve corresponding to the target regenerative braking torque increase rate is assigned to the front axle motor and the rear axle motor respectively, so that the front axle motor and the rear axle motor complete the change of braking torque according to the linear change curve, until the braking torque of the front axle motor reaches the target braking torque of the front axle motor and the braking torque of the rear axle motor reaches the target braking torque of the rear axle motor.

[0108] In Embodiment 2 of the present invention, a linear change curve of motor braking torque is constructed based on the maximum rate of increase of regenerative braking torque. Then, the required braking torque is distributed to the front and rear axles according to the braking intensity, so that the braking torque of the front and rear axles increases according to the linear change curve. This allows the motor braking torque to increase steadily until the braking demand is met, ensuring driving safety and improving user experience while maximizing energy recovery.

[0109] Example 3

[0110] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an energy recovery control device disclosed in an embodiment of the present invention. Figure 3 As shown, the energy recovery control device may include:

[0111] The receiving unit 310 is used to receive a braking request and determine a target braking torque based on the braking request;

[0112] The calculation unit 320 is used to calculate the maximum rate of increase of regenerative braking torque, taking into account crankshaft torque limitations and wheel axle torque constraints.

[0113] Determining unit 330 is used to obtain the current motor braking torque and determine the target regenerative braking torque rise rate based on the current motor braking torque and the target braking torque.

[0114]

[0115] Where, ΔT μ Let T0 be the target regenerative braking torque increase rate, and T be the target braking torque. c ΔT represents the current motor braking torque. max α is the maximum rate of increase of regenerative braking torque; α is the braking increase coefficient.

[0116] Control unit 340 is used to control the braking torque of the motor with the target regenerative braking torque rise rate.

[0117] As an optional embodiment, the device further includes: a distribution unit 350, please refer to... Figure 4 As shown, it may include:

[0118] The acquisition subunit 351 is used to determine the target braking intensity and the target total braking force based on the braking request, and to determine the target braking force of the front and rear axles based on the target braking intensity and the total braking force.

[0119] Distribution subunit 352 is used to determine the target braking torque of the front and rear axles based on the target braking force of the front and rear axles;

[0120] Control subunit 353 is used to control the braking torque of the front axle motor and the rear axle motor with the target regenerative braking torque rise rate.

[0121] As an optional embodiment, the allocation subunit may include:

[0122] When the target braking intensity is less than the first preset threshold, braking force is provided only through the front axle, that is, the target braking force of the front axle is the target total braking force;

[0123] When the target braking intensity is greater than or equal to the first preset threshold and less than the second preset threshold, the front and rear axles provide braking force according to the ECE regulation curve.

[0124] When the target braking intensity is greater than or equal to the second preset threshold, regenerative braking is discontinued, and mechanical braking is used.

[0125] As an optional embodiment, when the target braking intensity is greater than or equal to a first preset threshold and less than a second preset threshold, the front and rear axles provide braking force according to the ECE regulatory curve, including:

[0126]

[0127] F = F μf +F xf +F xr

[0128] Among them, Fxf The target braking force is the front axle motor; the vehicle is front-wheel drive. F uf For front axle hydraulic braking force, F xr For the target braking force of the rear axle motor, when FF xmax When >0,

[0129] F xf +F xr =F xmax F xmax β is the maximum electric motor power, and β is the front axle electric motor power distribution coefficient, with β ranging from 0.82 to 0.95.

[0130] As an optional embodiment, determining the target braking torque of the front and rear axles based on the target braking force of the front and rear axles includes:

[0131] T xf =F xf ×a

[0132] T xr =F xr ×b

[0133] Among them, T xf For the target braking torque of the front axle, F xf For the target braking force of the front axle motor, T xr F is the target braking torque for the rear axle. xr The target braking force is the rear axle motor, and a and b are the distances from the front axle and rear axle to the vehicle's center of gravity, respectively.

[0134] As an optional embodiment, the device further includes: a disable unit 360, used to acquire the motor torque capacity and noise value, and disable the motor braking when the motor torque capacity is less than a preset capacity and the noise value is greater than a preset noise value.

[0135] As an optional embodiment, the device further includes: a release unit 370, used to release the disabled motor braking when the difference between the current motor braking torque and the target braking torque is greater than a third preset threshold.

[0136] Example 4

[0137] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention. The electronic device can be a computer, a server, etc. Of course, in certain cases, it can also be a mobile phone, tablet computer, monitoring terminal, or other smart device, as well as an image acquisition device with processing capabilities. Figure 5 As shown, the electronic device may include:

[0138] Memory 410 storing executable program code;

[0139] Processor 420 coupled to memory 410;

[0140] The processor 420 calls the executable program code stored in the memory 410 to execute some or all of the steps in the energy recovery control method of Embodiment 1 or 2.

[0141] This invention discloses a computer-readable storage medium storing a computer program that causes a computer to perform some or all of the steps in the energy recovery control method of Embodiment 1 or 2.

[0142] This invention also discloses a computer program product, wherein when the computer program product is run on a computer, the computer performs some or all of the steps in the energy recovery control method of Embodiment 1 or 2.

[0143] This invention also discloses an application publishing platform, which is used to publish computer program products. When the computer program products are run on a computer, the computer performs some or all of the steps in the energy recovery control method of Embodiment 1 or 2.

[0144] In various embodiments of the present invention, it should be understood that the sequence number of each process does not necessarily imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0145] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they can be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0146] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0147] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several requests to cause a computer device (which can be a personal computer, server, or network device, specifically a processor in the computer device) to execute some or all of the steps of the methods described in the various embodiments of the present invention.

[0148] In the embodiments provided by this invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0149] Those skilled in the art will understand that some or all of the steps in the various methods of the embodiments described can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0150] The energy recovery control method, apparatus, electronic device, and storage medium disclosed in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An energy recovery control method, characterized in that, It includes: Receive a braking request and determine the target braking torque based on the braking request; Calculate the maximum rate of increase of regenerative braking torque, taking into account crankshaft torque limitations and wheel axle torque constraints. Obtain the current motor braking torque, and determine the target regenerative braking torque rise rate based on the current motor braking torque and the target braking torque: in, The target is the rate of increase of regenerative braking torque. For the target braking torque, This is the current motor braking torque. This represents the maximum rate of increase in regenerative braking torque. The braking increase coefficient; when hour, Pick ; The braking torque of the motor is controlled by the target regenerative braking torque rise rate; The method further includes: Based on the braking request, the target braking intensity and target total braking force are determined, and the target braking forces of the front and rear axles are determined according to the target braking intensity and total braking force. The target braking torque of the front and rear axles is determined based on the target braking force of the front and rear axles. The braking torque of the front axle motor and the rear axle motor is controlled by the target regenerative braking torque rise rate. The method further includes: Obtain the motor torque capacity and noise value; when the motor torque capacity is less than the preset capacity and the noise value is greater than the preset noise value, disable the motor braking. The method further includes: If the difference between the current motor braking torque and the target braking torque is greater than a third preset threshold, then the motor braking is disabled.

2. The energy recovery control method according to claim 1, characterized in that, The target braking forces for the front and rear axles are determined based on the target braking intensity and the target total braking force, including: When the target braking intensity is less than the first preset threshold, braking force is provided only through the front axle, that is, the target braking force of the front axle is the target total braking force; When the target braking intensity is greater than or equal to the first preset threshold and less than the second preset threshold, the front and rear axles provide braking force according to the ECE regulation curve. When the target braking intensity is greater than or equal to the second preset threshold, regenerative braking is discontinued, and mechanical braking is used.

3. The energy recovery control method according to claim 1, characterized in that, Determining the target braking torque of the front and rear axles based on the target braking forces of the front and rear axles includes: in, The target braking torque for the front axle. Target braking force for the front axle motor. The target braking torque for the rear axle. The target braking force is the rear axle motor, and a and b are the distances from the front axle and rear axle to the vehicle's center of gravity, respectively.

4. An energy recovery control device, characterized in that, It includes: A receiving unit is configured to receive a braking request and determine a target braking torque based on the braking request. The calculation unit is used to calculate the maximum rate of increase of regenerative braking torque, taking into account crankshaft torque limitations and wheel axle torque constraints. The determining unit is used to acquire the current motor braking torque and determine the target regenerative braking torque rise rate based on the current motor braking torque and the target braking torque. in, The target is the rate of increase of regenerative braking torque. For the target braking torque, This is the current motor braking torque. This represents the maximum rate of increase in regenerative braking torque. The braking increase coefficient; when hour, Pick ; A control unit for controlling the braking torque of the motor at the target regenerative braking torque rise rate; The device further includes: Based on the braking request, the target braking intensity and target total braking force are determined, and the target braking forces of the front and rear axles are determined according to the target braking intensity and total braking force. The target braking torque of the front and rear axles is determined based on the target braking force of the front and rear axles. The braking torque of the front axle motor and the rear axle motor is controlled by the target regenerative braking torque rise rate. The device further includes: Obtain the motor torque capacity and noise value; when the motor torque capacity is less than the preset capacity and the noise value is greater than the preset noise value, disable the motor braking. The device further includes: If the difference between the current motor braking torque and the target braking torque is greater than a third preset threshold, then the motor braking is disabled.

5. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to implement the steps of the energy recovery control method as described in any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, It stores a computer program, wherein the computer program causes a computer to perform the steps of the energy recovery control method according to any one of claims 1-3.

Images