An adaptive control method, device and equipment for energy recovery strength and a medium

Abstract

The application discloses an adaptive control method, device and equipment of energy recovery strength and medium. The application relates to the technical field of new energy vehicles. The method comprises the following steps: if it is identified that the adaptive adjustment mode of the energy recovery strength is in a working state and the energy recovery trigger condition is met, acquiring road information; performing curve identification according to the road information, and acquiring a current vehicle speed and curve information; and determining the energy recovery strength according to the current vehicle speed and the curve information. According to the technical scheme, the energy recovery strength can be adaptively controlled in combination with the road condition, the endurance of the new energy vehicle is improved, and the driving experience of the driver is improved.

Description

Technical Field

[0001] This disclosure relates to the field of new energy vehicle technology, and in particular to an adaptive control method, device, equipment and medium for energy recovery intensity. Background Technology

[0002] With the development of technology, new energy vehicles have gradually become integrated into the lives of many users.

[0003] To improve the driving range and economy of new energy vehicles, energy recovery during coasting has been widely applied. Energy recovery occurs when the driver releases the accelerator pedal and the brake pedal is not depressed. The power control system then controls the electric motor to convert it into a generator, using the resistance generated by the generator to apply braking force. Currently, most new energy vehicles on the market offer several fixed intensity options for energy recovery, such as "off," "weak," "medium," and "strong." Different options correspond to different levels of electric braking deceleration. When the driver sets the energy recovery intensity, the system will continuously control the motor to output electric braking force according to the corresponding deceleration level during driving. To ensure comfort and safety, the deceleration generated by coasting energy recovery cannot be too large; typically, the deceleration generated by the vehicle during coasting energy recovery does not exceed -2 ​​m / s². 2 .

[0004] The purpose of coasting energy recovery is to generate a small electric braking deceleration when the driver needs to slightly slow down, simply by releasing the accelerator pedal and utilizing coasting regenerative braking. This reduces unnecessary braking operations, improving driving comfort and preventing wear on mechanical brake pads. Furthermore, it converts the vehicle's kinetic energy into electrical energy stored in the battery, thereby increasing the electric vehicle's range – a win-win situation. However, current fixed energy recovery intensity schemes can only control electric braking according to the deceleration corresponding to a pre-set energy recovery intensity. They cannot control braking force based on the desired braking deceleration in the current driving scenario, resulting in inaccurate and ineffective energy saving, and the driving experience cannot be optimized. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an adaptive control method, device, equipment and medium for energy recovery intensity.

[0006] In a first aspect, this application provides an adaptive control method for energy recovery intensity, the method comprising the following steps:

[0007] If the adaptive adjustment mode for energy recovery intensity is detected to be in operation and the energy recovery triggering condition is met, then road information is obtained.

[0008] Based on the road information, curves are identified, and the current vehicle speed and curve information are obtained;

[0009] The energy recovery intensity is determined based on the current vehicle speed and the curve information.

[0010] According to the technical solution provided in the embodiments of this application, after determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes:

[0011] Determine whether the energy recovery intensity lock-up condition is met based on the curve information;

[0012] If so, then proceed through the curve based on the energy recovery intensity upon entering the curve;

[0013] If not, the energy recovery intensity will be switched when the vehicle's real-time speed is detected to meet the conditions for switching energy recovery intensity.

[0014] According to the technical solution provided in the embodiments of this application, the curve information includes the curve radius;

[0015] Determining whether the energy recovery intensity lock-up condition is met based on the curve information includes:

[0016] Read the radius of the curve;

[0017] If the radius of the bend is less than the set threshold, then the energy recovery intensity locking condition is determined to be met.

[0018] If the radius of the bend is greater than or equal to the set threshold, then the energy recovery intensity lock-in condition is determined not to be met.

[0019] According to the technical solution provided in the embodiments of this application, the curve information includes the curve radius;

[0020] Based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including:

[0021] Determine the safe driving speed of the vehicle based on the radius of the curve;

[0022] If the current vehicle speed is less than the vehicle's safe driving speed, then energy recovery will not be performed.

[0023] According to the technical solution provided in the embodiments of this application, the curve information also includes the entry distance into the curve;

[0024] After determining the safe driving speed of the vehicle based on the curve radius, the method further includes:

[0025] Based on the current vehicle speed and the cornering distance, if the first intensity of energy recovery is used so that the cornering speed is less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the first intensity.

[0026] Based on the current vehicle speed and the cornering distance, if the first intensity of energy recovery is used so that the cornering speed is greater than the vehicle's safe driving speed, and the second intensity of energy recovery is used so that the cornering speed is less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the second intensity.

[0027] Based on the current vehicle speed and the entry distance into the curve, if the second intensity of energy recovery is used, resulting in the entry speed into the curve being greater than the vehicle's safe driving speed, and the third intensity of energy recovery is used, resulting in the entry speed into the curve being less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the third intensity; and so on, until the highest intensity is reached.

[0028] Wherein, the first strength is less than the second strength, and the second strength is less than the third strength.

[0029] According to the technical solution provided in the embodiments of this application, before determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes:

[0030] Obtain target information about objects present ahead of the vehicle;

[0031] Accordingly, based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including:

[0032] The energy recovery intensity is determined based on the current vehicle speed, the curve information, and the target object information.

[0033] According to the technical solution provided in the embodiments of this application, before determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes:

[0034] Obtain speed limit information ahead;

[0035] Accordingly, based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including:

[0036] The energy recovery intensity is determined based on the current vehicle speed, the curve information, and the speed limit information.

[0037] Secondly, this application provides an adaptive control device for energy recovery intensity, comprising:

[0038] The road information acquisition module is used to acquire road information if it is detected that the adaptive adjustment mode of energy recovery intensity is in working state and the energy recovery triggering condition is met.

[0039] The curve recognition module is used to recognize curves based on the road information and obtain the current vehicle speed and curve information;

[0040] The energy recovery intensity determination module is used to determine the energy recovery intensity based on the current vehicle speed and the curve information.

[0041] Thirdly, a terminal device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the adaptive control method for energy recovery intensity as described above.

[0042] Fourthly, this application provides a computer-readable storage medium having a computer program that, when executed by a processor, implements the steps of the adaptive control method for energy recovery intensity described above.

[0043] The technical solution described in this application involves acquiring road information if the adaptive adjustment mode for energy recovery intensity is detected to be in operation and the energy recovery triggering conditions are met; identifying curves based on the road information and acquiring the current vehicle speed and curve information; and determining the energy recovery intensity based on the current vehicle speed and the curve information. By adopting this solution, the energy recovery intensity of a new energy vehicle can be determined by combining road information when the vehicle is about to enter a curve or has already entered a curve. This not only allows for adaptive control of the energy recovery intensity based on road conditions, improving the driving range of new energy vehicles, but also enhances the driving experience for drivers. Attached Figure Description

[0044] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0045] Figure 1 This is a flowchart illustrating the adaptive control method for energy recovery intensity provided in Embodiment 1 of this application;

[0046] Figure 2 This is a schematic diagram of the structure of the adaptive control system for energy recovery intensity provided in Embodiment 1 of this application;

[0047] Figure 3 This is a schematic diagram of the adaptive control device for energy recovery intensity provided in Embodiment 2 of this application;

[0048] Figure 4 This is a schematic diagram of the device provided in Embodiment 3 of this application. Detailed Implementation

[0049] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0051] Example 1

[0052] This embodiment provides an adaptive control method for energy recovery intensity. Figure 1 This is a flowchart illustrating the adaptive control method for energy recovery intensity provided in Embodiment 1 of this application. Figure 1 As shown, the method includes the following steps:

[0053] S1. If the adaptive adjustment mode of energy recovery intensity is detected to be in operation and the energy recovery triggering condition is met, then obtain road information.

[0054] This solution can be executed through the vehicle control unit (VCU). As you can understand, the vehicle control unit can be connected to various components of the vehicle via communication cables or wirelessly, or via the vehicle's CAN (Controller Area Network) bus. Based on this connection, it is possible to control various components of the vehicle and collect information on the operating status of each component.

[0055] Among them, the energy recovery intensity of new energy vehicles can include a variety of working modes, such as an adaptive adjustment mode for drivers, an off mode, a mode that is always on and performs energy recovery at a high intensity, a mode that is always on and performs energy recovery at a medium intensity, a mode that is always on and performs energy recovery at a low intensity, and so on.

[0056] It can be seen that the adaptive adjustment mode is in operation here. This means that the user has selected the adaptive adjustment mode through the vehicle terminal, so that the energy recovery intensity can be automatically controlled according to the vehicle's recognition results.

[0057] The energy recovery trigger condition can be the coasting phase in which the driver releases the accelerator pedal and does not apply the brake pedal.

[0058] Road information can include road elevation and curvature information, which can be determined using map data or high-resolution maps. Essentially, road information refers to the road a driver needs to travel on, and can be determined by combining it with navigation routes.

[0059] S2. Based on the road information, identify curves and obtain the current vehicle speed and curve information;

[0060] Curve recognition identifies whether a curve lies ahead or whether the vehicle is currently in a curve. Specifically, this can be determined by combining information from a high-resolution map of the road. Here, vehicle speed sensors can be used to obtain speed-related data such as current speed and gear. Then, based on the high-resolution map, data such as the curve radius, curve gradient, and entry distance into the curve can be determined.

[0061] S3. Determine the energy recovery intensity based on the current vehicle speed and the curve information.

[0062] In this scheme, the energy recovery intensity can be determined based on the current vehicle speed and curve information. For example, if the new energy vehicle has already entered a curve, then considering the current high vehicle speed and the small curve radius in the curve information, the energy recovery intensity can be determined to be high.

[0063] Understandably, if the vehicle speed decreases due to energy recovery during driving, the energy recovery intensity can be determined to be medium based on the current vehicle speed and curve information. Then, the energy recovery intensity can be adjusted from high to medium according to the adaptive adjustment strategy.

[0064] In one feasible embodiment, after determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes:

[0065] Determine whether the energy recovery intensity lock-up condition is met based on the curve information;

[0066] If so, then proceed through the curve based on the energy recovery intensity upon entering the curve;

[0067] If not, the energy recovery intensity will be switched when the vehicle's real-time speed is detected to meet the conditions for switching energy recovery intensity.

[0068] The energy recovery intensity lock-up condition can be related to the current vehicle speed, the current gear, or curve information. For example, when the curve radius is less than a certain radius value, or when the current gear is in a specific gear, such as sport gear, in order to ensure smooth cornering, the coasting energy recovery will exit adaptive intensity control and maintain the coasting energy recovery intensity at the moment of entering the curve.

[0069] The advantage of this design is that it improves the smoothness of the vehicle when driving through curves.

[0070] In one feasible embodiment, specifically, the curve information includes the curve radius;

[0071] Determining whether the energy recovery intensity lock-up condition is met based on the curve information includes:

[0072] Read the radius of the curve;

[0073] If the radius of the bend is less than the set threshold, then the energy recovery intensity locking condition is determined to be met.

[0074] If the radius of the bend is greater than or equal to the set threshold, then the energy recovery intensity lock-in condition is determined not to be met.

[0075] When the corner radius is less than 200m, in order to ensure the smoothness of cornering, the coasting energy recovery is deactivated by adaptive intensity control, and the coasting energy recovery intensity is maintained at the moment of entering the corner.

[0076] This design allows for energy recovery using the energy recovery intensity determined at the time of entering the curve, even when the curve radius is small. This avoids the need to adjust the energy recovery intensity and gives the driver a feeling of forward impact.

[0077] The technical solution provided in this embodiment obtains road information if the adaptive adjustment mode for energy recovery intensity is detected to be in operation and the energy recovery triggering conditions are met; it then identifies curves based on the road information and obtains the current vehicle speed and curve information; finally, it determines the energy recovery intensity based on the current vehicle speed and the curve information. By adopting this solution, the energy recovery intensity of a new energy vehicle can be determined by combining road information when the vehicle is about to enter a curve or has already entered a curve. This not only allows for adaptive control of the energy recovery intensity based on road conditions, improving the driving range of new energy vehicles, but also enhances the driving experience for the driver.

[0078] In this solution, optionally, the curve information includes the curve radius;

[0079] Based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including:

[0080] Determine the safe driving speed of the vehicle based on the radius of the curve;

[0081] If the current vehicle speed is less than the vehicle's safe driving speed, then energy recovery will not be performed.

[0082] Specifically, the safe driving speed of a vehicle can be determined based on the radius of the curve using the following formula:

[0083]

[0084] Where V is the safe driving speed of the vehicle, r is the radius of the curve, μ is the static friction coefficient between the wheel and the ground, and g is the acceleration due to gravity.

[0085] Implement energy recovery strategy: If the current vehicle speed is less than V, turn off coasting energy recovery.

[0086] The advantage of this design is that it can improve the safety of vehicles when going around curves.

[0087] In another feasible solution, the curve information also includes the entry distance into the curve;

[0088] After determining the safe driving speed of the vehicle based on the curve radius, the method further includes:

[0089] Based on the current vehicle speed and the cornering distance, if the first intensity of energy recovery is used so that the cornering speed is less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the first intensity.

[0090] Based on the current vehicle speed and the cornering distance, if the first intensity of energy recovery is used so that the cornering speed is greater than the vehicle's safe driving speed, and the second intensity of energy recovery is used so that the cornering speed is less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the second intensity.

[0091] Based on the current vehicle speed and the entry distance into the curve, if the second intensity of energy recovery is used, resulting in the entry speed into the curve being greater than the vehicle's safe driving speed, and the third intensity of energy recovery is used, resulting in the entry speed into the curve being less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the third intensity; and so on, until the highest intensity is reached.

[0092] Wherein, the first strength is less than the second strength, and the second strength is less than the third strength.

[0093] The highest intensity can be the highest level of energy recovery intensity achievable during adaptive adjustment. For example, if energy recovery intensity is divided into four levels—high, medium, low, and no recovery—then the highest intensity is the high energy recovery intensity.

[0094] Specifically, based on the current entry distance and current vehicle speed, the system calculates whether the vehicle speed at the entry point of the curve, when braking at a "weak" energy recovery intensity, meets the vehicle's safe driving speed. If it does, "weak" energy recovery is implemented. If not, the system calculates whether the vehicle speed at the entry point of the curve, when braking at a "medium" energy recovery intensity, meets the vehicle's safe driving speed. If it does, "medium" energy recovery is implemented. If not, the system calculates whether the vehicle speed at the entry point of the curve, when braking at a "strong" energy recovery intensity, meets the vehicle's safe driving speed. If it does, "strong" energy recovery is implemented. This process continues until the highest level of energy recovery braking fails to meet the vehicle's safe driving speed, at which point coasting energy recovery is implemented.

[0095] This embodiment is designed to take into account both the entry distance and the current vehicle speed, and to determine whether the vehicle can reduce its speed to a safe entry speed when entering a curve using various energy recovery intensities. This improves the driver's driving experience and eliminates the need to use the brake pedal, thus enhancing the energy economy of new energy vehicles.

[0096] In this embodiment, optionally, before determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes:

[0097] Obtain target information about objects present ahead of the vehicle;

[0098] Accordingly, based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including:

[0099] The energy recovery intensity is determined based on the current vehicle speed, the curve information, and the target object information.

[0100] The target object and its information can be detected using millimeter-wave radar or lidar, or captured by a camera. Specifically, the target object information can include its identification information, such as speed limit signs on road signs, and its speed information, such as the speed of a pedestrian or vehicle.

[0101] The energy recovery intensity is determined based on the current vehicle speed, the curve information, and the target object information. Specifically, it can be calculated by combining the current vehicle speed with the relative collision time with the target object. The correspondence between the energy recovery control strategy and the target object is as follows:

[0102] If the relative collision time is greater than 2 seconds, energy recovery is turned off;

[0103] If the relative collision time is greater than 1.5s and less than or equal to 2s, the energy recovery intensity is weak.

[0104] If the relative collision time is greater than 1s and less than or equal to 1.5s, the energy recovery intensity is medium.

[0105] If the relative collision time is less than or equal to 1 second, the energy recovery intensity is strong.

[0106] This embodiment is designed to combine information about curves with information about obstacles ahead, thereby improving driving safety and the rationality of energy recovery intensity.

[0107] In one feasible embodiment, optionally, before determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes:

[0108] Obtain speed limit information ahead;

[0109] Accordingly, based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including:

[0110] The energy recovery intensity is determined based on the current vehicle speed, the curve information, and the speed limit information.

[0111] In this solution, speeding can be detected by combining the current vehicle speed. The energy recovery control strategy is as follows:

[0112] If the overspeed range is greater than or equal to 10%, the energy recovery intensity is strong.

[0113] If the overspeed range is less than 10% and greater than or equal to 0%, then the energy recovery intensity is medium.

[0114] If the current vehicle speed is not exceeding the speed limit and the duration is within 5 seconds, the energy recovery intensity is weak.

[0115] If the current vehicle speed is not exceeding the speed limit and the duration is more than 5 seconds, energy recovery will be turned off.

[0116] This scheme is designed to take into account information about vehicle speeding, which can improve the driving safety of new energy vehicles while recovering energy.

[0117] Figure 2 This is a schematic diagram of the adaptive control system for energy recovery intensity provided in Embodiment 1 of this application; as shown Figure 2 As shown:

[0118] Sensors are used to perceive road traffic information. The system should include at least one sensor capable of detecting the distance to objects on the vehicle's path ahead. Other sensors can be flexibly included in the system based on the vehicle's configuration information. The optimal choice is to involve as much sensor information as possible in the fusion calculation, thus acquiring more road traffic information, expanding the driving scenarios covered by adaptive energy recovery intensity control, and improving control accuracy. Mid-range millimeter-wave radar is used for detecting and ranging objects ahead of the vehicle. The forward-facing camera is used to identify road traffic information, such as objects ahead of the vehicle, lane lines, traffic lights, speed limit signs, etc. The inertial navigation system (IMU) provides the vehicle's three-axis acceleration information for slope calculation. The lidar can accurately detect the position of objects ahead of the vehicle for target recognition and ranging. The high-precision HD-MAP can provide the vehicle's precise position information for auxiliary positioning and ranging, such as calculating the distance between the vehicle and the traffic lights ahead and identifying information about curves ahead.

[0119] The Advanced Driving Assistance System (ADAS) combines the steering wheel angle information provided by the Electrical Power Steering (EPS) system with the perception data acquired by sensors to perform calculations and processing to obtain information about the road environment in front of the vehicle, including the distance between the vehicle and targets on its expected trajectory, the radius of curvature, the gradient, traffic light information, speed limit information, etc., and sends it to the Vehicle Dynamics Control (VDC) system at a period of no more than 20ms.

[0120] During driving, when the coasting energy recovery meets the activation conditions, VDC, combined with the current vehicle speed, adaptively controls the intensity of coasting energy recovery based on information from the Electronic Stability Controller (ESC) and the road environment ahead provided by ADAS.

[0121] Specifically, the overall adaptive gliding energy recovery strategy:

[0122] When adaptive energy recovery conditions are triggered, if multiple conditions are met simultaneously, the system controls braking at the highest energy recovery intensity. For example, if the system simultaneously detects a 5% overspeed and an obstacle ahead at a TTC (Time To Collision) of 0.9 seconds, the system controls the coasting energy recovery intensity to "strong".

[0123] When the driver is detected to have actively pressed the brake pedal, in order to ensure the smoothness of braking, the coasting energy recovery is deactivated from the adaptive intensity control and the coasting energy recovery intensity is maintained at the moment the brake is pressed.

[0124] When the corner radius is less than 200m, in order to ensure the smoothness of cornering, the coasting energy recovery is deactivated by adaptive intensity control, and the coasting energy recovery intensity is maintained at the moment of entering the corner.

[0125] To ensure a smooth driving experience, the coasting energy recovery system adopts a step-by-step exit strategy based on the driving scenario. For example, if a "strong" coasting energy recovery level is set, and the system does not meet the strong energy recovery intensity, it will first control the execution of "medium" energy recovery for 5 seconds, then execute "weak" energy recovery for 5 seconds, and finally shut it off.

[0126] By adopting this solution, energy recovery efficiency can be effectively improved, and unnecessary human intervention by the driver in acceleration and braking control can be reduced, thus enhancing the driving experience.

[0127] Example 2

[0128] Corresponding to Example 1, this example provides an adaptive control device for energy recovery intensity. Figure 3 This is a schematic diagram of the adaptive control device for energy recovery intensity provided in Embodiment 2 of this application. Figure 3 As shown, the device includes:

[0129] The road information acquisition module 301 is used to acquire road information if it is detected that the adaptive adjustment mode of energy recovery intensity is in working state and the energy recovery triggering condition is met.

[0130] The curve recognition module 302 is used to recognize curves based on the road information and obtain the current vehicle speed and curve information;

[0131] The energy recovery intensity determination module 303 is used to determine the energy recovery intensity based on the current vehicle speed and the curve information.

[0132] The technical solution described in this application involves acquiring road information if the adaptive adjustment mode for energy recovery intensity is detected to be in operation and the energy recovery triggering conditions are met; identifying curves based on the road information and acquiring the current vehicle speed and curve information; and determining the energy recovery intensity based on the current vehicle speed and the curve information. By adopting this solution, the energy recovery intensity of a new energy vehicle can be determined by combining road information when the vehicle is about to enter a curve or has already entered a curve. This not only allows for adaptive control of the energy recovery intensity based on road conditions, improving the driving range of new energy vehicles, but also enhances the driving experience for drivers.

[0133] The apparatus provided in this application embodiment can implement the various processes implemented in the above method embodiments, and has corresponding functional modules and beneficial effects. To avoid repetition, it will not be described again here.

[0134] Example 3

[0135] This embodiment provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the adaptive control method for energy recovery intensity as described in any of the above items. Figure 4 This is a schematic diagram of the device provided in Embodiment 3 of this application. Figure 4 As shown, the terminal device 400 is, for example, a computer. The computer system includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to programs stored in read-only memory (ROM) 402 or programs loaded from storage into random access memory (RAM) 404. RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0136] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive is also connected to I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 410 as needed so that computer programs read from it can be installed into storage section 408 as needed.

[0137] Specifically, according to embodiments of the present invention, the process of the adaptive control method for energy recovery intensity described in the above embodiments can be implemented as a computer software program. For example, Embodiment 1 of the present invention includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU) 401, it performs the functions defined in the apparatus of this application.

[0138] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0139] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0140] The units described in the embodiments of the present invention can be implemented in software or hardware, and can also be located in a processor. The names of these units do not necessarily limit the specific unit itself. The described units or modules can also be located in a processor; for example, a processor may be described as including a first generation module, an acquisition module, a search module, a second generation module, and a merging module. The names of these units or modules do not necessarily limit the specific unit or module itself; for example, an input module may also be described as "an acquisition module for obtaining multiple instances to be probed in the base table."

[0141] In another aspect, this application also provides a computer-readable medium, which may be included in the terminal device described in the above embodiments; or it may exist independently and not assembled into the terminal device. The computer-readable medium carries one or more programs that, when executed by the terminal device, cause the terminal device to implement the adaptive control method for energy recovery intensity as described in the above embodiments.

[0142] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0143] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0144] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware.

[0145] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method of adaptive control of energy recovery strength, characterized by, The method includes: If the adaptive adjustment mode for energy recovery intensity is detected to be in operation and the energy recovery triggering condition is met, then road information is obtained. Based on the road information, curves are identified, and the current vehicle speed and curve information are obtained; The energy recovery intensity is determined based on the current vehicle speed and the curve information. The curve information includes the curve radius; determining whether the energy recovery intensity lock-up condition is met based on the curve information includes: reading the curve radius; if the curve radius is less than a set threshold, then the energy recovery intensity lock-up condition is met; if the curve radius is greater than or equal to the set threshold, then the energy recovery intensity lock-up condition is not met.

2. The adaptive control method for energy recovery intensity according to claim 1, characterized in that, If the energy recovery intensity lock-in condition is met, then the curve is passed based on the energy recovery intensity when entering the curve; If the energy recovery intensity lock-up condition is not met, the energy recovery intensity will be switched when the vehicle's real-time speed is detected to meet the energy recovery intensity switching condition.

3. The adaptive control method for energy recovery intensity according to claim 1, characterized in that, The curve information Including the radius of curvature; Based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including: Determine the safe driving speed of the vehicle based on the radius of the curve; If the current vehicle speed is less than the vehicle's safe driving speed, then energy recovery will not be performed.

4. The adaptive control method for energy recovery intensity according to claim 3, characterized in that, The curve information also includes the entry distance into the curve; After determining the safe driving speed of the vehicle based on the curve radius, the method further includes: Based on the current vehicle speed and the cornering distance, if the first intensity of energy recovery is used so that the cornering speed is less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the first intensity. Based on the current vehicle speed and the cornering distance, if the first intensity of energy recovery is used so that the cornering speed is greater than the vehicle's safe driving speed, and the second intensity of energy recovery is used so that the cornering speed is less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the second intensity. Based on the current vehicle speed and the entry distance into the curve, if the second intensity of energy recovery is used, resulting in the entry speed into the curve being greater than the vehicle's safe driving speed, and the third intensity of energy recovery is used, resulting in the entry speed into the curve being less than the vehicle's safe driving speed, then the energy recovery intensity is determined to be the third intensity; and so on, until the highest intensity is reached. Wherein, the first strength is less than the second strength, and the second strength is less than the third strength.

5. The adaptive control method for energy recovery intensity according to claim 1, characterized in that, Before determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes: Obtain target information about objects present ahead of the vehicle; Accordingly, based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including: The energy recovery intensity is determined based on the current vehicle speed, the curve information, and the target object information.

6. The adaptive control method for energy recovery intensity according to claim 1, characterized in that, Before determining the energy recovery intensity based on the current vehicle speed and the curve information, the method further includes: Obtain speed limit information ahead; Accordingly, based on the current vehicle speed and the curve information, the energy recovery intensity is determined, including: The energy recovery intensity is determined based on the current vehicle speed, the curve information, and the speed limit information.

7. An adaptive control device for energy recovery intensity, characterized in that, The device includes: The road information acquisition module is used to acquire road information if it is detected that the adaptive adjustment mode of energy recovery intensity is in working state and the energy recovery triggering condition is met. The curve recognition module is used to recognize curves based on the road information and obtain the current vehicle speed and curve information; An energy recovery intensity determination module is used to determine the energy recovery intensity based on the current vehicle speed and the curve information, wherein the curve information includes the curve radius; and to determine whether the energy recovery intensity locking condition is met based on the curve information, including: reading the curve radius; if the curve radius is less than a set threshold, then it is determined that the energy recovery intensity locking condition is met; if the curve radius is greater than or equal to the set threshold, then it is determined that the energy recovery intensity locking condition is not met.

8. A terminal device, characterized in that, The terminal device includes: Memory, used to store programs; and A processor is configured to execute the adaptive control method for energy recovery intensity as described in any one of claims 1 to 6 by invoking the program stored in the memory.

9. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the adaptive control method for energy recovery intensity as described in any one of claims 1 to 6.

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