Method for energy recovery control, device therefor and vehicle

Abstract

The application provides a method for energy recovery control, a device thereof and a vehicle. The method comprises the following steps: obtaining a vibration speed of a vehicle in a z direction based on a discrete integral of a z direction acceleration of the vehicle with respect to time during driving of the vehicle, wherein the z direction is a direction perpendicular to the ground; when the vibration speed in the z direction is greater than or equal to a predetermined z direction fluctuation threshold of the vehicle, entering a judgment link of a brake recovery strategy condition; and when the brake recovery strategy condition is met, the vehicle enters a brake recovery mode. The application can assist the driver to maintain a stable posture of the vehicle by adding an intelligent control strategy.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more particularly to a method, apparatus and vehicle for energy recovery control. Background Technology

[0002] In the field of new energy vehicles, there are currently mainly pure electric vehicles, hybrid electric vehicles, and range-extended electric vehicles. Compared with traditional fuel vehicles, battery cost and effective driving range are the primary pain points for customers. However, with increasingly stringent regulations and greater emphasis on environmental protection, the electrification of vehicles in China is an inevitable trend. Therefore, for new energy vehicles, how to output more sustained power within a given battery size is the goal pursued by the entire industry.

[0003] Under the current technological background, there are two main development directions: increasing battery power density and enhancing energy recovery. Increasing battery energy density presents significant technological barriers that are difficult to overcome in the short term; enhancing energy recovery, however, is relatively easier to achieve. However, current energy recovery methods are rather simplistic and lack intelligent control in the regenerative braking process. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus and vehicle for energy recovery control, which can assist the driver in maintaining the vehicle's stable posture.

[0005] One aspect of this application provides a method for energy recovery control. The method includes: during vehicle operation, obtaining the vibration velocity of the vehicle in the z-direction based on the discrete integral of the vehicle's z-direction acceleration over time, wherein the z-direction is perpendicular to the ground; when the vibration velocity in the z-direction is greater than or equal to a predetermined z-direction fluctuation threshold for the vehicle, proceeding to a judgment stage for braking recovery strategy conditions; and when the braking recovery strategy conditions are met, the vehicle enters a braking recovery mode.

[0006] Furthermore, the conditions for satisfying the regenerative braking strategy include: the state of charge (SOC) of the vehicle's battery being less than a predetermined SOC threshold and the motor temperature being less than a predetermined temperature threshold.

[0007] Furthermore, the method also includes: when the braking regeneration strategy conditions are not met, the vehicle enters a braking mode.

[0008] Furthermore, the method also includes: determining the vehicle's drive signal; and when the drive signal is greater than zero, the vehicle enters a driving mode.

[0009] Furthermore, the method further includes: when the driving signal is not greater than zero, obtaining a braking signal threshold based on the discrete integral of the brake pedal force over time; determining the driver's driving intention based on the braking signal threshold; and when the braking signal threshold is greater than or equal to a predetermined brake pedal force fluctuation threshold, determining that the driver wants the vehicle to brake, and then proceeding to the judgment step of the braking recovery strategy condition.

[0010] Furthermore, the method further includes: when the braking signal threshold is less than the predetermined brake pedal force fluctuation threshold, and it is determined that the driver wants the vehicle to coast, then the vehicle's travel speed in the x-direction and vibration speed in the z-direction are obtained respectively based on the discrete integral of the vehicle's x-direction acceleration with respect to time and the discrete integral of the vehicle's z-direction acceleration with respect to time, wherein the x-direction is the vehicle's forward direction; and when the travel speed in the x-direction is greater than or equal to the vehicle's predetermined x-direction fluctuation threshold, or when the vibration speed in the z-direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold, then the method proceeds to the determination phase of the brake recovery strategy conditions.

[0011] Furthermore, the method further includes: when the driving speed in the x-direction is less than the predetermined x-direction fluctuation threshold and the vibration speed in the z-direction is less than the predetermined z-direction fluctuation threshold, the vehicle enters a coasting mode.

[0012] Furthermore, the method further includes: acquiring the vehicle's current GPS signal; comparing the current GPS signal with the vehicle's historical GPS signals pre-stored in the energy recovery database; if the current GPS signal is consistent with the historical GPS signal within a predetermined time, then retrieving the historical energy recovery mode corresponding to the historical GPS signal that is the same as the current GPS signal from the energy recovery database, and entering the historical energy recovery mode; and if the current GPS signal is inconsistent with the historical GPS signal within a predetermined time, then proceeding to the vehicle's drive signal judgment stage.

[0013] Furthermore, the method also includes storing the GPS signals and energy recovery modes of the vehicle during its operation into the energy recovery database at predetermined intervals.

[0014] Furthermore, the method also includes: after the vehicle has traveled a predetermined distance, storing the road segment information traveled by the vehicle in the form of power spectral density in a big data platform.

[0015] Another aspect of this application provides an energy recovery control device. The device includes an acquisition module and a control module. The acquisition module is used to acquire the vibration velocity of the vehicle in the z-direction (perpendicular to the ground) during vehicle operation by using the discrete integral of the vehicle's z-direction acceleration over time. The control module is used to determine whether a braking recovery strategy condition is met when the vibration velocity in the z-direction is greater than or equal to a predetermined z-direction fluctuation threshold for the vehicle, and if the braking recovery strategy condition is met, to control the vehicle to enter a braking recovery mode.

[0016] Another aspect of this application provides a vehicle. The vehicle includes the energy recovery control device described above.

[0017] The energy recovery control method, apparatus, and vehicle of one or more embodiments of this application can achieve at least one of the following beneficial technical effects:

[0018] (1) During the vehicle's operation, this application can determine the vibration speed of the vehicle in the z-direction. When the vibration speed in the z-direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold, it enters the judgment stage of the braking recovery strategy condition. By adding this intelligent control strategy, it can help the driver maintain the vehicle's stable posture.

[0019] (2) By adopting an intelligent feedback strategy, this application can compare the actual SOC of the vehicle battery with a predetermined SOC threshold and the actual motor temperature with a predetermined temperature threshold, and decide whether to enter the regenerative braking mode based on the comparison results, thereby avoiding battery overcharging or motor overheating.

[0020] (3) This application processes the time domain signal during coasting, compares the vehicle's x-axis speed and z-axis vibration speed with a predetermined x-axis fluctuation threshold and a predetermined z-axis fluctuation threshold, respectively, and determines whether the driver needs to activate energy recovery based on the comparison results, thereby maximizing the mileage.

[0021] (4) This application fully considers braking energy recovery, which can make braking energy recovery more efficient;

[0022] (5) This application combines big data vehicle networking to save road feature data to a historical database for easy access next time. Attached Figure Description

[0023] Figure 1 This is an overall flowchart of an energy recovery control method according to an embodiment of this application.

[0024] Figure 2 This is a schematic block diagram of an energy recovery control device according to an embodiment of this application. Detailed Implementation

[0025] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this application as detailed in the appended claims.

[0026] The terminology used in the embodiments of this application is for the purpose of describing specific embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in the embodiments of this application should be understood in their ordinary sense by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "one" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. "A plurality" or "several" indicates two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper" and similar terms are for ease of description only and are not limited to a location or spatial orientation. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" cover the elements or objects listed after "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect. The singular forms “a,” “the,” and “the” used in this application specification and appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0027] This application provides a method for energy recovery control. Figure 1 A flowchart illustrating an embodiment of the energy recovery control method of this application is provided. Figure 1 As shown, when a vehicle is driving on a road, the energy recovery control method of one embodiment of this application may include steps S11 to S15.

[0028] In step S1: The vehicle's drive signal is judged. If the judgment result is "yes (Y)", the process proceeds to step S2.

[0029] In step S2, if the drive signal is greater than zero, the vehicle enters driving mode and continues to drive normally.

[0030] Considering the potential for transient fluctuations during vehicle operation, and to better ensure vehicle safety and comfort, in step S3, during vehicle operation, the vibration velocity in the z-direction can be obtained based on the discrete integral of the vehicle's z-direction acceleration over time, where the z-direction is perpendicular to the ground. Furthermore, based on the vehicle's vibration velocity in the z-direction, a judgment is made according to the following formula (1):

[0031]

[0032] Among them, a z Let be the vehicle's acceleration in the z-direction; i is the acceleration in the z-direction a z Data sequence number; a z (i) represents the z-axis acceleration of the i-th vehicle; n represents the total number of sequence numbers, for example, 1000; Δt represents the time difference, for example, 2ms; m represents the predetermined z-axis fluctuation threshold of the vehicle, for example, 1.5 m / s.

[0033] If the result of the judgment in step S3 is "No (N)", that is, the judgment result is < m, it means that the vehicle driving process is relatively smooth, and the driving mode will continue to be maintained, and this cycle will continue.

[0034] If the result of the judgment in step S3 is "yes (Y)", that is, the judgment result is ≥ m, it means that the vehicle has encountered a bumpy road surface, and the process proceeds to step S4.

[0035] In step S4, when the vibration velocity in the z-direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold, the intelligent assistance system prematurely interrupts power and enters the braking regeneration strategy condition judgment stage, further determining whether the braking regeneration strategy conditions are met. If the braking regeneration strategy conditions are met, the process proceeds to step S5.

[0036] In step S5, when the conditions for the regenerative braking strategy are met, the vehicle enters the regenerative braking mode.

[0037] The regenerative braking modes described in this article include energy recovery during vehicle coasting and energy recovery during vehicle braking.

[0038] In some embodiments, satisfying the regenerative braking strategy conditions may include: the vehicle's battery SOC (State of Charge) being less than a predetermined SOC threshold and the motor temperature being less than a predetermined temperature threshold.

[0039] In some embodiments, the energy recovery control method of this application may further include step S6. When the result of the determination in step S4 is that the braking recovery strategy conditions are not met, the process proceeds to step S6.

[0040] In step S6, the vehicle enters braking mode when the battery's SOC is greater than or equal to a predetermined SOC threshold, or when the motor temperature is greater than or equal to a predetermined temperature threshold.

[0041] For example, in one specific embodiment, step S4 may include steps S41 and S42. In step S41, to ensure the battery's lifespan, the battery's SOC (State of Charge) can be determined to be ≥90%. If the result is "Yes (Y)," meaning SOC ≥90%, the battery has sufficient charge, and the process proceeds directly to the braking mode in step S6. If the result is "No (N)," meaning SOC is less than 90%, the process proceeds to step S42. In step S42, the motor temperature is further determined to be ≥J. Here, J can be set to, for example, 150°C. If the result is "Yes (Y)," meaning the motor temperature ≥J, the process also proceeds to the braking mode in step S6. If the result is "No (N)," meaning the motor temperature <J, the process proceeds to the regenerative braking mode in step S5 to recover braking energy.

[0042] In the regenerative braking mode, the regenerated torque can be calculated according to the following formula (2):

[0043]

[0044] Where M is the motor reverse torque, F t F represents the transient brake pedal force. max M is the maximum brake pedal force. max This is the maximum reverse torque of the motor.

[0045] Of course, it is understandable that the process for determining the conditions of the regenerative braking strategy in this application is not limited to... Figure 1 The diagram shows the process of determining the battery's state of charge (SOC) before the motor temperature. In other embodiments, the motor temperature can be determined first, followed by the battery's SOC. The determination of the regenerative braking strategy conditions in this application does not restrict the order in which the battery's SOC and motor temperature are determined.

[0046] In some embodiments, the energy recovery control method of this application may further include step S7. When the result of the determination in step S1 is "No (N)", the process proceeds to step S7.

[0047] When the driving signal is not greater than zero, the braking signal is further judged. In order to better understand whether the driver wants to coast or brake, in step S7, when the driving signal is not greater than zero, the braking signal threshold can be obtained based on the discrete integral of the brake pedal force over time. The driver's driving intention is determined based on the braking signal threshold. The braking signal threshold can be judged according to the following formula (3):

[0048]

[0049] Among them, F t i represents the force applied when the brake pedal is depressed; F represents the force applied when the brake pedal is depressed. t Data serial number; F t (i) represents the braking force of the i-th brake pedal; n is the total number of sequence numbers, for example, 1000 here; Δt is the difference in time, for example, 2ms here; p is the predetermined brake pedal force fluctuation threshold, for example, 25 N here. · rice.

[0050] When the result of the judgment in step S7 is "yes (Y)", that is, when the braking signal threshold is greater than or equal to the predetermined brake pedal force fluctuation threshold (the judgment result of formula (3) is ≥ p), it is determined that the driver wants the vehicle to brake, and then the judgment link of the brake recovery strategy condition in step S4 is entered.

[0051] In some embodiments, the energy recovery control method of this application may further include step S8. When the result of the judgment in step S7 is "No (N)", that is, the judgment result of formula (3) is <p, then proceed to step S8.

[0052] In step S8, when the braking signal threshold is less than the predetermined brake pedal force fluctuation threshold, it indicates that the driver may want the vehicle to maintain a coasting state. However, to ensure the safety and stability of the vehicle's driving process and to achieve intelligent assistance, the vehicle's travel speed in the x-direction and vibration speed in the z-direction can be obtained based on the discrete integrals of the vehicle's x-direction acceleration and z-direction acceleration over time, respectively, where x-direction is the vehicle's forward direction. Furthermore, the vehicle's vibration speed in the z-direction is determined according to the above formula (1), and the vehicle's travel speed in the x-direction is determined according to the following formula (4).

[0053]

[0054] Among them, a x Let be the vehicle's acceleration in the x-direction; i is the acceleration in the x-direction a x Data sequence number; a x(i) represents the x-axis acceleration of the i-th vehicle; n represents the total number of serial numbers, for example, 1000; Δt represents the time difference, for example, 2ms; n represents the vehicle's x-axis fluctuation threshold, for example, 2m / s.

[0055] When the result of the judgment in step S8 is "yes (Y)", that is, the driving speed in the x direction is greater than or equal to the vehicle's predetermined x-direction fluctuation threshold (the judgment result of formula (4) is ≥ n), or the vibration speed in the z direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold (the judgment result of formula (1) is ≥ m), then the vehicle will proceed to the judgment stage of the braking recovery strategy condition in step S4.

[0056] In some embodiments, the energy recovery control method of this application may further include step S9. When the result of the judgment in step S8 is "No (N)", that is, the judgment result of formula (4) < n and the judgment result of formula (1) < m, the process proceeds to step S9.

[0057] In step S9, when the driving speed in the x direction is less than a predetermined x-direction fluctuation threshold and the vibration speed in the z direction is less than a predetermined z-direction fluctuation threshold, it indicates that the driver wants the vehicle to maintain a coasting state, and the vehicle enters the coasting mode.

[0058] like Figure 1 As shown, in some embodiments, the energy recovery control method of this application may further include steps S10 to S12.

[0059] In step S10, the vehicle's current GPS signal is acquired and compared with the vehicle's historical GPS signals pre-stored in the energy recovery database. If the result is "yes (Y)," proceed to step S11.

[0060] In step S11, if the current GPS signal and the historical GPS signal are consistent within a predetermined time, the historical energy recovery mode corresponding to the historical GPS signal that is the same as the current GPS signal is retrieved from the energy recovery database, and then the process proceeds to step S12.

[0061] In step S12, the system enters the historical energy recovery mode and recovers energy according to the previous recovery strategy. This avoids redundant data processing and saves memory space.

[0062] If the result of the judgment in step S10 is "No (N)", that is, if the current GPS signal is inconsistent with the historical GPS signal within the predetermined time, then the judgment of the vehicle's driving signal in step S1 will be resumed.

[0063] In some embodiments, the energy recovery control method of this application may further include Line 1: storing the GPS signal and the energy recovery mode operated during vehicle travel into an energy recovery database at predetermined intervals. This allows for direct recall when the vehicle travels on the same road again, enabling advance prediction of the recovery strategy.

[0064] In some embodiments, the energy recovery control method of this application may further include: after the vehicle has traveled a predetermined distance, storing the road segment information traveled by the vehicle in the form of power spectral density (PSD) in a big data platform for optimization of the control strategy. The PSD can be calculated according to the following formula:

[0065]

[0066] in, Its representative is a z Fourier transform of (t), a z (t) represents the z-axis acceleration of the vehicle in the current state, and T represents the time required to travel this distance.

[0067] like Figure 1 As shown, in some embodiments, the energy recovery control method of this application may further include line 2: every predetermined time interval, entering the vehicle drive signal judgment stage in step S1.

[0068] Regardless of the vehicle's current operating mode, such as coasting mode, braking mode, or regenerative braking mode, it must be processed in the next step S1 according to the drive signal judgment step that flows into line 2.

[0069] This application also provides an energy recovery control device. Figure 2 A schematic block diagram of an energy recovery control device according to one embodiment of this application is shown. Figure 2 As shown, an energy recovery control device 100 according to one embodiment of this application may include an acquisition module 101 and a control module 102. The acquisition module 101 is used to acquire the vibration velocity of the vehicle in the z-direction (perpendicular to the ground) during vehicle operation by using the discrete integral of the vehicle's z-direction acceleration over time. The control module 102 is used to determine whether the braking recovery strategy conditions are met when the vibration velocity in the z-direction is greater than or equal to a predetermined z-direction fluctuation threshold for the vehicle, and if the braking recovery strategy conditions are met, to control the vehicle to enter the braking recovery mode.

[0070] This application also provides a vehicle. The vehicle includes the energy recovery control device 100 as described above.

[0071] The energy recovery control method, apparatus, and vehicle of one or more embodiments of this application can achieve at least one of the following beneficial technical effects:

[0072] (1) During the vehicle's operation, this application can determine the vibration speed of the vehicle in the z-direction. When the vibration speed in the z-direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold, it enters the judgment stage of the braking recovery strategy condition. By adding this intelligent control strategy, it can help the driver maintain the vehicle's stable posture.

[0073] (2) By adopting an intelligent feedback strategy, this application can compare the actual SOC of the vehicle battery with a predetermined SOC threshold and the actual motor temperature with a predetermined temperature threshold, and decide whether to enter the regenerative braking mode based on the comparison results, thereby avoiding battery overcharging or motor overheating.

[0074] (3) This application processes the time domain signal during coasting, compares the vehicle's x-axis speed and z-axis vibration speed with a predetermined x-axis fluctuation threshold and a predetermined z-axis fluctuation threshold, respectively, and determines whether the driver needs to activate energy recovery based on the comparison results, thereby maximizing the mileage.

[0075] (4) This application fully considers braking energy recovery, which can make braking energy recovery more efficient;

[0076] (5) This application combines big data vehicle networking to save road feature data to a historical database for easy access next time.

[0077] The energy recovery control method, apparatus, and vehicle provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the energy recovery control method, apparatus, and vehicle of this application. The descriptions of the embodiments above are only for helping to understand the core ideas of this application and are not intended to limit this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the spirit and principles of this application, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for energy recovery control, characterized in that, include: During the vehicle's operation, the vibration velocity of the vehicle in the z-direction is obtained based on the discrete integral of the vehicle's z-direction acceleration over time, where the z-direction is perpendicular to the ground. When the vibration velocity in the z-direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold, the vehicle proceeds to the condition determination stage for the regenerative braking strategy; and When the conditions for the regenerative braking strategy are met, the vehicle enters the regenerative braking mode. The method further includes: Determine the vehicle's drive signals; When the driving signal is not greater than zero, the braking signal threshold is obtained based on the discrete integral of the braking pedal force over time. The driver's driving intention is determined based on the braking signal threshold; When the braking signal threshold is less than a predetermined brake pedal force fluctuation threshold, and it is determined that the driver wants the vehicle to coast, the vehicle's travel speed in the x-direction and vibration speed in the z-direction are further obtained based on the discrete integrals of the vehicle's x-direction acceleration and z-direction acceleration over time, respectively, where the x-direction is the vehicle's forward direction; and When the driving speed in the x-direction is greater than or equal to the vehicle's predetermined x-direction fluctuation threshold, or when the vibration speed in the z-direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold, the vehicle proceeds to the condition determination stage for the regenerative braking strategy.

2. The method as described in claim 1, characterized in that, The conditions for satisfying the braking recovery strategy include: The vehicle's battery SOC must be less than a predetermined SOC threshold and the motor temperature must be less than a predetermined temperature threshold.

3. The method as described in claim 1, characterized in that, The method further includes: When the conditions for the regenerative braking strategy are not met, the vehicle enters braking mode.

4. The method as described in claim 1, characterized in that, The method further includes: When the drive signal is greater than zero, the vehicle enters driving mode.

5. The method as described in claim 1, characterized in that, The method further includes: When the braking signal threshold is greater than or equal to the predetermined brake pedal force fluctuation threshold, it is determined that the driver wants the vehicle to brake, and then the process proceeds to the determination phase of the brake recovery strategy conditions.

6. The method as described in claim 1, characterized in that, The method further includes: When the driving speed in the x-direction is less than the predetermined x-direction fluctuation threshold and the vibration speed in the z-direction is less than the predetermined z-direction fluctuation threshold, the vehicle enters the coasting mode.

7. The method as described in claim 1, characterized in that, The method further includes: Obtain the vehicle's current GPS signal; The current GPS signal is compared with the vehicle's historical GPS signals pre-stored in the energy recovery database; If the current GPS signal matches the historical GPS signal within a predetermined time, then the historical energy recovery mode corresponding to the historical GPS signal that matches the current GPS signal is retrieved from the energy recovery database, and the user enters the historical energy recovery mode; and If the current GPS signal is inconsistent with the historical GPS signal within the predetermined time, the process proceeds to the vehicle's drive signal determination stage.

8. The method as described in claim 7, characterized in that, The method further includes: At predetermined intervals, the GPS signals and energy recovery modes of the vehicle during its operation are stored in the energy recovery database.

9. The method as described in claim 8, characterized in that, The method further includes: After the vehicle has traveled the predetermined distance, the road segment information is stored in the form of power spectral density on the big data platform.

10. A device for energy recovery control, characterized in that, The system includes an acquisition module and a control module. The acquisition module acquires the vehicle's vibration velocity in the z-direction (perpendicular to the ground) based on the discrete integral of the vehicle's z-direction acceleration over time during vehicle operation. The control module determines whether a regenerative braking strategy condition is met when the vibration velocity in the z-direction is greater than or equal to a predetermined z-direction fluctuation threshold. If the regenerative braking strategy condition is met, the control module controls the vehicle to enter regenerative braking mode. The acquisition module also assesses the vehicle's drive signal; if the drive signal is not greater than zero, it acquires a braking signal threshold based on the discrete integral of the brake pedal force over time. The control module is used to determine the driver's driving intention based on the braking signal threshold; when the braking signal threshold is less than a predetermined brake pedal force fluctuation threshold, and it is determined that the driver wants the vehicle to coast, the module further obtains the vehicle's travel speed in the x-direction and vibration speed in the z-direction based on the discrete integral of the vehicle's x-direction acceleration with respect to time and the discrete integral of the vehicle's z-direction acceleration with respect to time, respectively, where the x-direction is the vehicle's forward direction; and when the travel speed in the x-direction is greater than or equal to the vehicle's predetermined x-direction fluctuation threshold, or when the vibration speed in the z-direction is greater than or equal to the vehicle's predetermined z-direction fluctuation threshold, the module proceeds to the judgment stage of the brake recovery strategy conditions.

11. A vehicle, characterized in that, It includes the energy recovery control device as described in claim 10.

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