A vehicle braking energy recovery method, device, equipment and storage medium

Abstract

A vehicle braking energy recovery method, device, equipment and storage medium, relate to vehicle braking energy recovery technical field, wherein the vehicle braking energy recovery method comprises: obtaining multiple groups of motor speeds of a test vehicle, and corresponding recovery torques under each group of motor speeds; display the multiple groups of motor speeds and the recovery torques in the form of a parameterized curve, and obtain multiple basic control points with the motor speed and the recovery torque as plane coordinates; taking the recovery torque of the basic control point as a control handle, taking the lowest set mileage power consumption value as an objective function, and obtaining the optimized basic control point coordinates through an iterative algorithm; adjusting the parameterized curve based on the optimized basic control point coordinates to obtain an optimized braking energy recovery curve for vehicle braking energy recovery. The present application does not need to calibrate the real vehicle multiple times, but only adjusts the coordinates of the control points to complete the optimization of the curve, which has low energy consumption, high recovery efficiency, and strong operability, convenience and practicality.

Description

Technical Field

[0001] This application relates to the field of vehicle braking energy recovery technology, specifically to a method, device, equipment, and storage medium for vehicle braking energy recovery. Background Technology

[0002] Traditional internal combustion engine vehicles consume fuel for power, leading to a depletion of fossil fuels, especially petroleum resources. At the same time, the exhaust emissions from these vehicles cause severe environmental pollution. These issues highlight the growing importance of developing and using new energy-efficient vehicles.

[0003] Electric vehicles are an important component of new energy vehicles, boasting zero pollution and zero emissions, thus demonstrating significant energy-saving and environmental protection benefits. Regenerative braking technology, unique to electric vehicles, can effectively improve vehicle range and has become a hot research topic in recent years.

[0004] In existing technologies, when electric vehicles perform regenerative braking, the entire energy recovery process is often based on a regenerative braking curve. This curve represents the relationship between motor speed and recovered torque, meaning that the amount of recovered torque in the braking energy is determined by the current motor speed. This regenerative braking curve is often obtained through actual vehicle calibration. By calibrating the recovered torque value with low energy consumption and high recovery efficiency during actual vehicle operation, the regenerative braking curve is finally obtained. However, optimizing the curve through actual vehicle calibration presents technical problems such as complex testing processes and long data acquisition cycles. Summary of the Invention

[0005] This application provides a method, device, equipment, and storage medium for vehicle braking energy recovery. It does not require multiple calibrations of the actual vehicle; the curve can be optimized simply by adjusting the coordinates of the control points, achieving low energy consumption and high recovery efficiency. It is highly operable, convenient, and practical.

[0006] In a first aspect, embodiments of this application provide a method for recovering braking energy from a vehicle, the method comprising:

[0007] The test vehicle's motor speeds were obtained from multiple motor speeds, and the corresponding recovery torque was obtained for each motor speed.

[0008] Multiple sets of motor speeds and regenerative torques are displayed in the form of parametric curves, and multiple basic control points with motor speeds and regenerative torques as plane coordinates are obtained;

[0009] Using the recovery torque of the basic control point as the control handle and the minimum energy consumption value at a set mileage as the objective function, the optimized coordinates of the basic control point are obtained through an iterative algorithm.

[0010] Based on the optimized coordinates of the basic control points, the parameterized curve is adjusted to obtain the optimized braking energy recovery curve, and the whole vehicle braking energy recovery is performed according to the optimized braking energy recovery curve.

[0011] In conjunction with the first aspect, in one embodiment, obtaining the rotational speeds of multiple sets of motors in the test vehicle, and the corresponding recovery torque at each set of motor speeds, includes:

[0012] Braking energy recovery tests were conducted on the test vehicle to collect the recovered torque at different motor speeds.

[0013] In conjunction with the first aspect, in one embodiment, the step of conducting a regenerative braking test on the test vehicle to collect the regenerative torque at different motor speeds includes:

[0014] The test vehicle is driven at a preset speed, and the remaining power charge Q1 of the test vehicle's power battery is obtained in real time.

[0015] After receiving a signal that the brake pedal has been pressed, the motor speed is obtained, and the current battery charge Q2 is obtained.

[0016] The increase in electrical energy Q is obtained from Q2-Q1, and the amount of kinetic energy recovered is calculated from the increase in electrical energy Q as the recovery torque.

[0017] In conjunction with the first aspect, in one implementation, multiple sets of motor speeds and the corresponding recovery torque at each set of motor speeds are obtained through historical braking energy recovery curves.

[0018] In conjunction with the first aspect, in one implementation, the display of multiple sets of motor speeds and regenerative torques in the form of parametric curves, and the acquisition of multiple basic control points with motor speeds and regenerative torques as planar coordinates, includes:

[0019] By using the motor speed of each group as the horizontal axis and the recovery torque corresponding to that motor speed as the vertical axis, multiple coordinate data points are obtained.

[0020] Using two adjacent coordinate data points as two basic control points, a Bézier curve is added between the two adjacent coordinate data points, and n-2 intermediate control points are added on the Bézier curve to obtain an nth-order Bézier curve.

[0021] Add Bézier curves and intermediate control points between every two adjacent coordinate data points to display multiple sets of motor speeds and recovery torques in the form of n-order Bézier curves, and obtain all the basic control points.

[0022] In conjunction with the first aspect, in one implementation, the step of using the recovery torque of the basic control point as the control lever and the minimum energy consumption value at a set mileage as the objective function to obtain the optimized coordinates of the basic control point through an iterative algorithm includes:

[0023] The recovery torque at the basic control point is used as the control lever, and the minimum energy consumption per 100 kilometers is used as the objective function.

[0024] By iteratively optimizing and adjusting the recovery torque of the basic control points using a genetic algorithm, the optimized recovery torque corresponding to each group of motor speeds that satisfies the objective function is obtained, and then the optimized coordinates of each basic control point are obtained.

[0025] In conjunction with the first aspect, in one embodiment, the step of performing vehicle braking energy recovery based on the optimized braking energy recovery curve includes:

[0026] After receiving a signal that the brake pedal has been pressed, the remaining power of the test vehicle's power battery is obtained.

[0027] When the remaining charge of the power battery is less than or equal to the preset charge, the vehicle is controlled to enter the braking energy recovery mode, and braking energy is recovered based on the optimized braking energy recovery curve.

[0028] Secondly, embodiments of this application provide a vehicle braking energy recovery device, the vehicle braking energy recovery device comprising:

[0029] The data acquisition module is used to acquire the rotational speeds of multiple motors on the test vehicle, as well as the corresponding recovery torque at each motor speed.

[0030] The calculation module is used to display multiple sets of motor speeds and regenerative torques in the form of parametric curves, and to obtain multiple basic control points with motor speeds and regenerative torques as plane coordinates;

[0031] The calculation module is also used to obtain the optimized coordinates of the basic control point by using the recovery torque of the basic control point as the control handle and the minimum power consumption value of the set mileage as the objective function through an iterative algorithm.

[0032] The energy recovery module adjusts the parameterized curve based on the optimized coordinates of the basic control points to obtain the optimized braking energy recovery curve, and then performs vehicle braking energy recovery based on the optimized braking energy recovery curve.

[0033] Thirdly, embodiments of this application provide a vehicle braking energy recovery device, which includes a processor, a memory, and a vehicle braking energy recovery program stored in the memory and executable by the processor. When the vehicle braking energy recovery program is executed by the processor, it implements the steps of any of the above-described vehicle braking energy recovery methods.

[0034] Fourthly, embodiments of this application provide a computer-readable storage medium storing a vehicle braking energy recovery program, wherein when the vehicle braking energy recovery program is executed by a processor, it implements the steps of the vehicle braking energy recovery method as described above.

[0035] The beneficial effects of the technical solutions provided in this application include at least the following:

[0036] The vehicle braking energy recovery method in this application displays the collected recovery torque data as a parametric curve to obtain multiple basic control points. Then, using the ordinate of these basic control points as control handles, an algorithm iterates on them, with the objective function being to minimize energy consumption at a set mileage. This yields the coordinates of the optimized control points. The original parametric curve is then adjusted using these optimized control point coordinates to obtain the optimized braking energy recovery curve. This optimization method is faster, simpler, and more operable. It essentially proposes a simulation method for braking energy recovery curves, providing technical guidance. Furthermore, this application provides a complete development methodology for curve description, curve control methods, and curve control algorithms, enabling convenient and rapid optimization of the recovery map without repeated real-vehicle calibration. Attached Figure Description

[0037] Figure 1 This is a schematic flowchart of an embodiment of the vehicle braking energy recovery method of this application;

[0038] Figure 2 This is a schematic diagram comparing the braking energy recovery curves of this application;

[0039] Figure 3 This is a functional module diagram of an embodiment of the vehicle braking energy recovery device of this application;

[0040] Figure 4 This is a schematic diagram of the hardware structure of the vehicle braking energy recovery device involved in the embodiments of this application. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0042] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0043] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0044] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0045] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0047] In one aspect, embodiments of this application provide a method for recovering braking energy from a vehicle.

[0048] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of the vehicle braking energy recovery method of this application. Figure 1 As shown, the whole vehicle braking energy recovery method includes:

[0049] S1. Obtain the rotational speeds of multiple motors on the test vehicle, and the corresponding recovery torque at each motor speed.

[0050] In this embodiment, a regenerative braking test can be conducted on the test vehicle to collect the regenerative torque at different motor speeds. This method can improve the accuracy of the collected data, providing more accurate basic data for subsequent optimization.

[0051] In specific implementation, step S1 includes:

[0052] S11. Drive the test vehicle at a preset speed and obtain the remaining power Q1 of the test vehicle's power battery in real time.

[0053] S12. After receiving the signal that the brake pedal has been pressed, obtain the motor speed and the current power battery charge Q2.

[0054] S13. Obtain the increase in electrical energy Q based on Q2-Q1, and use the kinetic energy recovery amount calculated from the increase in electrical energy Q as the recovery torque.

[0055] It is worth noting that in step S13, the specific conversion process can be based on previous empirical formulas or obtained through a kinetic energy model. The kinetic energy model can be trained using multiple sets of data, with electrical energy as the input and kinetic energy as the output. By inputting Q from S13 into the trained kinetic energy model, the model can output the corresponding kinetic energy recovery amount.

[0056] In addition, the speed of multiple motors and the recovery torque data corresponding to each motor speed can be obtained from the previous energy recovery curves. Multiple data points are randomly selected from the historical energy recovery curves. The horizontal axis of each data point is the corresponding motor speed data, and the vertical axis is the corresponding recovery torque data.

[0057] S2. Display multiple sets of motor speeds and regenerative torques in the form of parametric curves, and obtain multiple basic control points with motor speeds and regenerative torques as plane coordinates.

[0058] Specifically, step S2 includes:

[0059] S21. Use the speed of each group of motors as the horizontal axis and the recovery torque corresponding to the motor speed as the vertical axis to obtain multiple coordinate data points;

[0060] S22. Using two adjacent coordinate data points as two basic control points, add a Bézier curve between the two adjacent coordinate data points, and add n-2 intermediate control points on the Bézier curve to obtain an nth-order Bézier curve.

[0061] S23. Add Bézier curves and intermediate control points between every two adjacent coordinate data points to display multiple sets of motor speeds and recovery torques in the form of n-order Bézier curves, and obtain all the basic control points.

[0062] In this embodiment, the collected data is displayed in the form of a Bézier curve to facilitate subsequent curve optimization. Specifically, a Bézier curve has a start endpoint and an end endpoint. The motor speed of each group is used as the abscissa, and the corresponding recovery torque is used as the ordinate, resulting in multiple coordinate data points. A Bézier curve segment can be added between every two adjacent coordinate data points. The start and end endpoints of this segment are the two coordinate data points. Selecting the control points at both ends of the Bézier curve, choosing subdivision, and adjusting the number of cuts in the fine-tuning tool increases the number of intermediate control points. Generally, adding n-2 is sufficient, because the two control points at both ends plus the n-2 subdivision control points in the middle result in an nth-order Bézier curve. Furthermore, by adding Bézier curves between every two adjacent coordinate data points, the overall basic energy braking recovery curve is obtained, along with all the basic control points.

[0063] S3. Using the recovery torque of the basic control point as the control handle and the minimum power consumption value at a set mileage as the objective function, the optimized coordinates of the basic control point are obtained through an iterative algorithm.

[0064] In this embodiment, a genetic algorithm-based automatic optimization control method is adopted. The vertical coordinate of each basic control point is used as the control handle, and the genetic algorithm is iterated on it. The objective function of the genetic algorithm is the minimum energy consumption per 100 kilometers. By continuously optimizing and changing the vertical coordinate of the basic control point, the optimized recovery torque value (vertical coordinate) corresponding to each group of motor speeds (horizontal coordinate) that satisfies the objective function is obtained, and thus the optimized basic control points corresponding to each basic control point are obtained.

[0065] Furthermore, based on each optimized control point, the shape of the basic energy recovery curve is adjusted (changing the coordinates of the control points can change the shape of the Bezier curve), and the optimized energy recovery curve can be obtained. The optimized energy recovery curve is then input into the vehicle's braking energy recovery system to achieve the purpose of braking energy recovery based on the optimized braking energy recovery curve.

[0066] S4. Adjust the parameterized curve based on the optimized basic control point coordinates to obtain the optimized braking energy recovery curve, and perform whole vehicle braking energy recovery according to the optimized braking energy recovery curve.

[0067] Specifically, step S4 includes:

[0068] S41. After receiving a signal that the brake pedal has been pressed, obtain the remaining power of the test vehicle's power battery.

[0069] Specifically, for some low-cost commercial vehicles, the brake pedal does not have displacement or angle sensors, and the regenerative braking is controlled by a switch signal; regenerative braking begins as soon as the pedal is pressed.

[0070] S42. When the remaining charge of the power battery is less than or equal to the preset charge, control the vehicle to enter the braking energy recovery mode and recover braking energy based on the optimized braking energy recovery curve.

[0071] In this embodiment, the preset battery level can be set to 92% of the total battery capacity. It is understood that other values ​​can also be set according to actual needs, and this embodiment does not impose any limitations. This completes the vehicle's regenerative braking system.

[0072] See Figure 2 As shown, Figure 2 The dashed line represents the regenerative braking curve obtained through real-vehicle calibration using existing technology. The solid line represents the optimized regenerative braking curve obtained through simulation using the control point adjustment proposed in this application. The dots represent the optimized control points. Figure 2 It can be seen that the optimized automatic energy recovery curve obtained by using this application is similar to that obtained by actual vehicle calibration, and the optimization method of this application is faster and simpler.

[0073] In summary, the vehicle braking energy recovery method in this application displays the collected recovery torque data as a parametric curve to obtain multiple basic control points. Then, using the ordinate of these basic control points as control handles, an algorithm iterates on the basic control points, with the objective function being to minimize energy consumption at a set mileage. This yields the coordinates of the optimized control points. The original parametric curve is then adjusted using these optimized control point coordinates to obtain the optimized braking energy recovery curve. This optimization method is faster, simpler, and more operable. It essentially proposes a simulation method for braking energy recovery curves, providing technical guidance. Furthermore, this application also provides a complete development methodology for curve description, curve control methods, and curve control algorithms, enabling convenient and rapid optimization of the recovery map without repeated real-vehicle calibration.

[0074] Secondly, embodiments of this application also provide a vehicle braking energy recovery device.

[0075] In one embodiment, reference is made to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the vehicle braking energy recovery device of this application. Figure 3 As shown, the vehicle's braking energy recovery device includes:

[0076] The data acquisition module is used to acquire the rotational speeds of multiple motors on the test vehicle, as well as the corresponding recovery torque at each motor speed.

[0077] The calculation module is used to display multiple sets of motor speeds and regenerative torques in the form of parametric curves, and to obtain multiple basic control points with motor speeds and regenerative torques as plane coordinates;

[0078] The calculation module is also used to obtain the optimized coordinates of the basic control point by using the recovery torque of the basic control point as the control handle and the minimum power consumption value of the set mileage as the objective function through an iterative algorithm.

[0079] The energy recovery module adjusts the parameterized curve based on the optimized coordinates of the basic control points to obtain the optimized braking energy recovery curve, and then performs vehicle braking energy recovery based on the optimized braking energy recovery curve.

[0080] Furthermore, in one embodiment, the acquisition module acquires the rotational speeds of multiple motors in the test vehicle, and the corresponding recovery torque at each motor rotational speed, including:

[0081] Braking energy recovery tests were conducted on the test vehicle to collect the recovered torque at different motor speeds.

[0082] Furthermore, in one embodiment, the data acquisition module performs a brake energy recovery test on the test vehicle to collect the recovery torque at different motor speeds, including:

[0083] The test vehicle is driven at a preset speed, and the remaining power charge Q1 of the test vehicle's power battery is obtained in real time.

[0084] After receiving a signal that the brake pedal has been pressed, the motor speed is obtained, and the current battery charge Q2 is obtained.

[0085] The increase in electrical energy Q is obtained from Q2-Q1, and the amount of kinetic energy recovered is calculated from the increase in electrical energy Q as the recovery torque.

[0086] Furthermore, in one embodiment, the acquisition module obtains multiple sets of motor speeds and the corresponding recovery torque at each set of motor speeds through historical braking energy recovery curves.

[0087] Furthermore, in one embodiment, the calculation module displays multiple sets of motor speeds and regenerative torques in the form of parametric curves, and obtains multiple basic control points with motor speeds and regenerative torques as planar coordinates, including:

[0088] By using the motor speed of each group as the horizontal axis and the recovery torque corresponding to that motor speed as the vertical axis, multiple coordinate data points are obtained.

[0089] Using two adjacent coordinate data points as two basic control points, a Bézier curve is added between the two adjacent coordinate data points, and n-2 intermediate control points are added on the Bézier curve to obtain an nth-order Bézier curve.

[0090] Add Bézier curves and intermediate control points between every two adjacent coordinate data points to display multiple sets of motor speeds and recovery torques in the form of n-order Bézier curves, and obtain all the basic control points.

[0091] Further, in one embodiment, the calculation module uses the recovery torque of the basic control point as the control handle and the minimum energy consumption value at a set mileage as the objective function to obtain the optimized coordinates of the basic control point through an iterative algorithm, including:

[0092] The recovery torque at the basic control point is used as the control lever, and the minimum energy consumption per 100 kilometers is used as the objective function.

[0093] By iteratively optimizing and adjusting the recovery torque of the basic control points using a genetic algorithm, the optimized recovery torque corresponding to each group of motor speeds that satisfies the objective function is obtained, and then the optimized coordinates of each basic control point are obtained.

[0094] Furthermore, in one embodiment, the energy recovery module performs vehicle braking energy recovery based on the optimized braking energy recovery curve, including:

[0095] After receiving a signal that the brake pedal has been pressed, the remaining power of the test vehicle's power battery is obtained.

[0096] When the remaining charge of the power battery is less than or equal to the preset charge, the vehicle is controlled to enter the braking energy recovery mode, and braking energy is recovered based on the optimized braking energy recovery curve.

[0097] The functions of each module in the above-mentioned vehicle braking energy recovery device correspond to the steps in the above-mentioned vehicle braking energy recovery method embodiment, and their functions and implementation processes will not be described in detail here.

[0098] Thirdly, embodiments of this application provide a vehicle braking energy recovery device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0099] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of the vehicle braking energy recovery device involved in the embodiments of this application. In the embodiments of this application, the vehicle braking energy recovery device may include a processor, a memory, a communication interface, and a communication bus.

[0100] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0101] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the vehicle's regenerative braking system, as well as interfaces used for interconnecting the system with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0102] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0103] The processor can be a general-purpose processor, which can call the vehicle braking energy recovery program stored in the memory and execute the vehicle braking energy recovery method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the vehicle braking energy recovery program is called can be referred to in the various embodiments of the vehicle braking energy recovery method of this application, and will not be repeated here.

[0104] Those skilled in the art will understand that Figure 4 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0105] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0106] The present application provides a computer-readable storage medium storing a vehicle braking energy recovery program, wherein when the vehicle braking energy recovery program is executed by a processor, it implements the steps of the vehicle braking energy recovery method described above.

[0107] The method implemented when the vehicle braking energy recovery procedure is executed can be referred to in the various embodiments of the vehicle braking energy recovery method of this application, and will not be repeated here.

[0108] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0109] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0110] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for recovering braking energy in a vehicle, characterized in that, The vehicle braking energy recovery method includes: The test vehicle's motor speeds were obtained from multiple motor speeds, and the corresponding recovery torque was obtained for each motor speed. Multiple sets of motor speeds and regenerative torques are displayed in the form of parametric curves, and multiple basic control points with motor speeds and regenerative torques as plane coordinates are obtained; Using the recovery torque of the basic control point as the control handle and the minimum energy consumption value at a set mileage as the objective function, the optimized coordinates of the basic control point are obtained through an iterative algorithm. Based on the optimized coordinates of the basic control points, the parameterized curve is adjusted to obtain the optimized braking energy recovery curve. The whole vehicle braking energy recovery is then performed according to the optimized braking energy recovery curve. The process involves displaying multiple sets of motor speeds and regenerative torques as parametric curves, and obtaining multiple basic control points with motor speeds and regenerative torques as planar coordinates, including: By using the motor speed of each group as the horizontal axis and the recovery torque corresponding to that motor speed as the vertical axis, multiple coordinate data points are obtained. Using two adjacent coordinate data points as two basic control points, a Bézier curve is added between the two adjacent coordinate data points, and n-2 intermediate control points are added on the Bézier curve to obtain an nth-order Bézier curve. Add Bézier curves and intermediate control points between every two adjacent coordinate data points to display multiple sets of motor speeds and recovery torques in the form of n-order Bézier curves, and obtain all the basic control points.

2. The vehicle braking energy recovery method as described in claim 1, characterized in that, The acquisition of the rotational speeds of multiple motors in the test vehicle, and the corresponding recovery torque at each motor speed, includes: Braking energy recovery tests were conducted on the test vehicle to collect the recovered torque at different motor speeds.

3. The vehicle braking energy recovery method as described in claim 2, characterized in that, The braking energy recovery test of the test vehicle, to collect the recovery torque at different motor speeds, includes: The test vehicle is driven at a preset speed, and the remaining power charge Q1 of the test vehicle's power battery is obtained in real time. After receiving a signal that the brake pedal has been pressed, the motor speed is obtained, and the current battery charge Q2 is obtained. The increase in electrical energy Q is obtained from Q2-Q1, and the amount of kinetic energy recovered is calculated from the increase in electrical energy Q as the recovery torque.

4. The vehicle braking energy recovery method as described in claim 1, characterized in that: Multiple motor speeds and the corresponding recovery torque at each motor speed were obtained by using historical braking energy recovery curves.

5. The vehicle braking energy recovery method as described in claim 1, characterized in that, The optimized coordinates of the basic control point are obtained through an iterative algorithm, using the recovery torque of the basic control point as the control lever and the minimum energy consumption value at a set mileage as the objective function. This includes: The recovery torque at the basic control point is used as the control lever, and the minimum energy consumption per 100 kilometers is used as the objective function. By iteratively optimizing and adjusting the recovery torque of the basic control points using a genetic algorithm, the optimized recovery torque corresponding to each group of motor speeds that satisfies the objective function is obtained, and then the optimized coordinates of each basic control point are obtained.

6. The vehicle braking energy recovery method as described in claim 1, characterized in that, The process of recovering vehicle braking energy based on the optimized braking energy recovery curve includes: After receiving a signal that the brake pedal has been pressed, the remaining power of the test vehicle's power battery is obtained. When the remaining charge of the power battery is less than or equal to the preset charge, the vehicle is controlled to enter the braking energy recovery mode, and braking energy is recovered based on the optimized braking energy recovery curve.

7. A vehicle braking energy recovery device, characterized in that, The vehicle braking energy recovery device includes: The data acquisition module is used to acquire the rotational speeds of multiple motors on the test vehicle, as well as the corresponding recovery torque at each motor speed. The calculation module is used to display multiple sets of motor speeds and regenerative torques in the form of parametric curves, and to obtain multiple basic control points with motor speeds and regenerative torques as plane coordinates; The calculation module is also used to obtain the optimized coordinates of the basic control point by using the recovery torque of the basic control point as the control handle and the minimum power consumption value of the set mileage as the objective function through an iterative algorithm. The energy recovery module adjusts the parameterized curve based on the optimized coordinates of the basic control points to obtain the optimized braking energy recovery curve, and then performs vehicle braking energy recovery based on the optimized braking energy recovery curve. The process involves displaying multiple sets of motor speeds and regenerative torques as parametric curves, and obtaining multiple basic control points with motor speeds and regenerative torques as planar coordinates, including: By using the motor speed of each group as the horizontal axis and the recovery torque corresponding to that motor speed as the vertical axis, multiple coordinate data points are obtained. Using two adjacent coordinate data points as two basic control points, a Bézier curve is added between the two adjacent coordinate data points, and n-2 intermediate control points are added on the Bézier curve to obtain an nth-order Bézier curve. Add Bézier curves and intermediate control points between every two adjacent coordinate data points to display multiple sets of motor speeds and recovery torques in the form of n-order Bézier curves, and obtain all the basic control points.

8. A vehicle braking energy recovery device, characterized in that, The vehicle braking energy recovery device includes a processor, a memory, and a vehicle braking energy recovery program stored in the memory and executable by the processor, wherein when the vehicle braking energy recovery program is executed by the processor, it implements the steps of the vehicle braking energy recovery method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle braking energy recovery program, wherein when the vehicle braking energy recovery program is executed by a processor, it implements the steps of the vehicle braking energy recovery method as described in any one of claims 1 to 6.

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