Brake energy recovery method, device, vehicle and storage medium

Abstract

The application discloses a brake energy recovery method and device, a vehicle and a storage medium, and belongs to the technical field of vehicles. The method comprises the following steps: in response to a brake instruction triggered by a target user, determining a target brake demand based on a current brake time, a current vehicle speed, a current brake parameter and a target mapping relationship, wherein the target mapping relationship is used to indicate the relationship among the brake time, the vehicle speed, the brake parameter and the brake demand in the vehicle driving process, and the brake parameter comprises brake pedal pressure and / or brake pedal stroke; determining a brake demand torque based on the target brake demand, a current vehicle driving state and a vehicle physical parameter; determining a first target brake torque based on the brake demand torque, and performing vehicle braking and brake energy recovery based on the first target brake torque. The application fully considers the driving experience of the user when performing vehicle braking and brake energy recovery, so that the driving smoothness in the braking process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a brake energy recovery method and device, a vehicle and a storage medium. BACKGROUND

[0002] With the rapid development of vehicle technology, the frequency of using vehicles in daily life is increasing. In order to improve the utilization efficiency of vehicle energy, a brake energy recovery function is usually introduced when the vehicle brakes, so as to improve the utilization efficiency of vehicle energy by recovering brake energy, and thus improve the endurance of the vehicle.

[0003] In the related art, the recovery control of brake energy is mainly based on vehicle driving state parameters such as vehicle speed, battery state, etc., resulting in that the recovery mode of brake energy is only related to the current driving state of the vehicle, the flexibility of brake energy recovery is poor, and the user's use perception is affected. SUMMARY

[0004] The present application provides a brake energy recovery method, device, vehicle and storage medium, which can improve the flexibility of brake energy recovery. The technical solution is as follows:

[0005] In one aspect, a brake energy recovery method is provided, the method comprising:

[0006] In response to a brake instruction triggered by a target user, a target brake demand is determined based on a current brake time, a current vehicle speed, a current brake parameter and a target mapping relationship, the target mapping relationship being used to indicate the relationship between brake time, vehicle speed, brake parameter and brake demand in the vehicle driving process, the brake parameter including brake pedal pressure and / or brake pedal stroke;

[0007] A brake demand torque is determined based on the target brake demand, a current vehicle driving state and a vehicle physical parameter, the vehicle driving state including vehicle speed, acceleration and driving slope, and the vehicle physical parameter including vehicle body size and vehicle body weight;

[0008] A first target brake torque is determined based on the brake demand torque, and vehicle braking and brake energy recovery are performed based on the first target brake torque.

[0009] Optionally, before the target brake demand is determined based on the current brake time, the current vehicle speed, the current brake parameter and the target mapping relationship corresponding to the target user, the method further comprises:

[0010] A plurality of mapping relationships are determined based on a plurality of sets of training data, each set of training data including driver reaction time, brake time, vehicle speed, pedal stroke, pedal pressure, clutch release time required and brake force;

[0011] obtaining a driving parameter in a driving process of the vehicle, determining, based on the driving parameter, a mapping relationship that is most matched with the driving parameter from the plurality of mapping relationships as the target mapping relationship, the driving parameter including a driver reaction time, a brake time, a vehicle speed, a pedal stroke, a pedal pressure, and / or a clutch release required time.

[0012] Optionally, the determining the first target brake torque based on the brake demand torque, the vehicle braking based on the first target brake torque, and the brake energy recovery include:

[0013] In a case where the current vehicle speed is greater than a speed threshold and the current battery capacity of the vehicle is less than a capacity threshold, the first target brake torque is determined based on the brake demand torque, and the vehicle braking based on the first target brake torque and the brake energy recovery are performed.

[0014] Optionally, the first target brake torque includes a first motor brake torque and a first mechanical brake torque.

[0015] The determining the first target brake torque based on the brake demand torque, the vehicle braking based on the first target brake torque, and the brake energy recovery include:

[0016] A torque threshold is determined based on the current vehicle speed and a vehicle brake motor identifier.

[0017] In a case where the brake demand torque is greater than the torque threshold, the first motor brake torque is determined based on the torque threshold, and a difference between the brake demand torque and the first motor brake torque is determined as the first mechanical brake torque.

[0018] The vehicle braking is performed based on the first motor brake torque and the first mechanical brake torque, and the brake energy recovery is performed based on the first motor brake torque.

[0019] Optionally, after the torque threshold is determined based on the current vehicle speed and the vehicle brake motor identifier, the method further includes:

[0020] In a case where the brake demand torque is less than or equal to the torque threshold, a second motor brake torque is determined based on the brake demand torque.

[0021] The vehicle braking and the brake energy recovery are performed based on the second motor brake torque.

[0022] Optionally, the method further includes:

[0023] In a case that the current vehicle speed is less than or equal to the speed threshold value, or the current battery capacity of the vehicle is greater than or equal to the capacity threshold value, a second mechanical brake torque is determined based on the brake demand torque, and vehicle braking is performed based on the second mechanical brake torque.

[0024] In another aspect, a brake energy recovery device is provided, and the device comprises:

[0025] A demand determination module is configured to determine a target brake demand based on a current brake time, a current vehicle speed, a current brake parameter, and a target mapping relationship in response to a brake instruction triggered by a target user, the target mapping relationship being used to indicate a relationship between a brake time, a vehicle speed, a brake parameter, and a brake demand during vehicle driving, the brake parameter including a brake pedal pressure and / or a brake pedal stroke;

[0026] A torque determination module is configured to determine a brake demand torque based on the target brake demand, a current vehicle driving state, and a vehicle physical parameter, the vehicle driving state including a vehicle speed, an acceleration, and a driving slope, and the vehicle physical parameter including a vehicle body size and a vehicle body weight;

[0027] A brake module is configured to determine a first target brake torque based on the brake demand torque, perform vehicle braking and recovery of brake energy based on the first target brake torque.

[0028] Optionally, the device further comprises a mapping relationship determination module, which is configured to:

[0029] A plurality of mapping relationships are determined based on a plurality of sets of training data, each set of training data including a driver reaction time, a brake time, a vehicle speed, a pedal stroke, a pedal pressure, a clutch release time, and a brake force;

[0030] A driving parameter during vehicle driving is obtained, and a mapping relationship that is most matched to the driving parameter is determined as the target mapping relationship from the plurality of mapping relationships based on the driving parameter, the driving parameter including a driver reaction time, a brake time, a vehicle speed, a pedal stroke, a pedal pressure, and / or a clutch release time.

[0031] Optionally, the brake module is specifically configured to:

[0032] In a case that the current vehicle speed is greater than a speed threshold value, and the current battery capacity of the vehicle is less than a capacity threshold value, the first target brake torque is determined based on the brake demand torque, and vehicle braking and recovery of brake energy are performed based on the first target brake torque.

[0033] Optionally, the first target brake torque includes a first motor brake torque and a first mechanical brake torque, and the brake module is specifically configured to:

[0034] determine a torque threshold value based on the current vehicle speed and a vehicle braking motor identifier;

[0035] in a case where the braking demand torque is greater than the torque threshold value, determine the first motor braking torque based on the torque threshold value, and determine a difference between the braking demand torque and the first motor braking torque as the first mechanical braking torque;

[0036] perform vehicle braking based on the first motor braking torque and the first mechanical braking torque, and perform recovery of braking energy based on the first motor braking torque.

[0037] Optionally, the braking module is further configured to:

[0038] in a case where the braking demand torque is less than or equal to the torque threshold value, determine a second motor braking torque based on the braking demand torque;

[0039] perform vehicle braking and recovery of braking energy based on the second motor braking torque.

[0040] Optionally, the braking module is further configured to:

[0041] in a case where the current vehicle speed is less than or equal to the speed threshold value, or the current battery capacity of the vehicle is greater than or equal to the capacity threshold value, determine a second mechanical braking torque based on the braking demand torque, and perform vehicle braking based on the second mechanical braking torque.

[0042] In another aspect, a vehicle is provided, the vehicle comprising a memory and a processor, the memory being configured to store a computer program, and the processor being configured to execute the computer program stored in the memory to implement the steps of the above-mentioned braking energy recovery method.

[0043] In another aspect, a computer readable storage medium is provided, the storage medium storing a computer program, the computer program being executed by a processor to implement the steps of the above-mentioned braking energy recovery method.

[0044] In another aspect, a computer program product containing instructions which, when executed on a computer, cause the computer to perform the steps of the above-mentioned braking energy recovery method.

[0045] The technical solutions provided in the present application can bring at least the following beneficial effects:

[0046] In a case where the target user triggers a braking instruction, by determining the target braking demand from the target mapping relationship based on the current braking time, vehicle speed and braking parameters of the vehicle, the target braking demand can be determined in combination with the driving scene when the vehicle brakes, so that the determined target braking demand can fully combine the driving habits of the target user in the current driving scene, and then the braking demand torque is determined based on the target braking demand and the current vehicle driving state and vehicle physical parameters, and the braking of the vehicle and the recovery of braking energy are realized through the braking demand torque, so that the determined braking demand can fully consider the current driving scene and driving habits of the target user, so as to fully consider the driving experience of the user when the vehicle brakes and the braking energy is recovered, and improve the driving smoothness in the braking process. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0049] Figure 2 is a flowchart of a braking energy recovery method provided by an embodiment of the present application;

[0050] Figure 3 is a structural schematic diagram of a braking energy recovery device provided by an embodiment of the present application;

[0051] Figure 4 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the drawings.

[0053] Before the braking energy recovery method provided by the embodiments of the present application is explained in detail, the implementation environment related to the embodiments of the present application will be introduced.

[0054] Please refer to Figure 1 , Figure 1Fig. 1 is a schematic diagram of an implementation environment according to an example embodiment. The implementation environment includes at least one sensor 101, a mechanical brake controller 102, an electric machine brake controller 103, and a processor 104, which can be communicatively coupled to the sensor 101, the mechanical brake controller 102, and the electric machine brake controller 103, respectively. The communication connection can be wired or wireless, which is not limited in the embodiments of the present application.

[0055] The sensor 101 is configured to acquire vehicle driving parameters, which can include a speed sensor configured to acquire a current driving speed of the vehicle, an acceleration sensor configured to acquire a current driving acceleration of the vehicle, a temperature sensor configured to acquire a current ambient temperature of the vehicle, a pressure sensor configured to acquire a pedal pressure, a displacement sensor configured to acquire a pedal stroke change, a slope sensor configured to acquire a current road driving slope, and the like, and transmit the acquired driving parameters to the processor 104.

[0056] The mechanical brake controller 102 is configured to realize mechanical braking of the vehicle by controlling a size of a hydraulic braking force.

[0057] The electric machine brake controller 103 is configured to realize electric machine braking of the vehicle and braking energy recovery by controlling a size of an electric machine braking force.

[0058] The processor 104 is configured to determine a mechanical brake torque and / or an electric machine brake torque based on the driving parameters of the vehicle, transmit the mechanical brake torque to the mechanical brake controller 102 to realize mechanical braking of the vehicle by the mechanical brake controller 102, and transmit the electric machine brake torque to the electric machine brake controller 103 to realize electric machine braking of the vehicle and braking energy recovery by the electric machine brake controller 103.

[0059] The processor 104 can be a general CPU (Central Processing Unit), a NP (Network Processor), a microprocessor, or one or more integrated circuits for implementing the schemes of the present application, such as an ASIC (Application-Specific Integrated Circuit), a PLD (Programmable Logic Device), or a combination thereof. The PLD can be a CPLD (Complex Programmable Logic Device), an FPGA (Field-Programmable Gate Array), a GAL (Generic Array Logic), or any combination thereof.

[0060] Those skilled in the art shall understand that the sensor 101, the mechanical brake controller 102, the motor brake controller 103 and the processor 104 described above are only examples, and other existing or future sensors, mechanical brake controllers, motor brake controllers or processors that can be applicable to the embodiments of the present application shall also be included in the protection scope of the embodiments of the present application, and are hereby included by reference.

[0061] It shall be noted that the application scenarios and implementation environments described in the embodiments of the present application are for more clearly explaining the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and those skilled in the art can know that the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems as new application scenarios appear and implementation environments evolve.

[0062] Next, the brake energy recovery method provided by the embodiments of the present application is explained in detail.

[0063] Figure 2 is a flowchart of a brake energy recovery method provided by the embodiments of the present application, and the method is applied to the processor 104 described above. Please refer to Figure 2 The method includes the following steps.

[0064] Step 201: In response to a brake instruction triggered by a target user, determining a target brake demand based on a current brake time, a current vehicle speed, a current brake parameter and a target mapping relationship, the target mapping relationship being used to indicate a relationship between a brake time, a vehicle speed, a brake parameter and a brake demand in a vehicle driving process, the brake parameter including a brake pedal pressure and / or a brake pedal stroke.

[0065] In some embodiments, the brake instruction can be determined based on the control of the brake by the target user, such as the perception of the brake instruction triggered by the target user based on the change of the brake parameter such as the brake pedal stroke and the brake pedal pressure.

[0066] For example, when the brake pedal stroke changes and / or the brake pedal pressure changes, it is considered that the target user has triggered the brake instruction.

[0067] The target mapping relationship can be understood as a map or a mapping relationship table in various forms corresponding to the target user, when the target mapping relationship is a map, the map can be a three-dimensional map, in which the brake time, the vehicle speed and the brake parameter are respectively the x-axis, the y-axis and the z-axis of the map, and the brake demand can be represented by the color of the image of the three-dimensional map, so as to determine the target brake demand from the target mapping relationship based on the current brake time, the current vehicle speed and the current brake parameter.

[0068] In some embodiments, the target mapping relationship can also be a set of map graphs, and the set of map graphs can include multiple map graphs, and different map graphs can be used to indicate mapping relationships between different parameters, and the target mapping relationship can be determined through combination of the multiple map graphs.

[0069] For example, the map Figure 1 is used to indicate the mapping relationship between the braking time, the vehicle speed and the influence factor. Figure 2 is used to indicate the mapping relationship between the influence factor, the braking parameter and the braking demand, and the influence factor can be determined from the map Figure 1 based on the current braking time and the current vehicle speed, and the braking demand can be determined from the map Figure 2 based on the influence factor and the current braking parameter.

[0070] In some embodiments, the multiple mapping relationships can be determined through the simulation model based on multiple sets of training data, and each set of training data can include the driver reaction time, the braking time, the vehicle speed, the pedal stroke, the pedal pressure, the clutch release time required and the braking force; the driving parameters in the vehicle driving process can be obtained, and the driving parameter can include the driver reaction time, the braking time, the vehicle speed, the pedal stroke, the pedal pressure and / or the clutch release time required; and the mapping relationship most matched with the driving parameter can be determined from the multiple mapping relationships as the target mapping relationship based on the driving parameter.

[0071] In some embodiments, since the driving habits of different users are different, the braking demands of different users can also be different in the case of the same braking time, the same vehicle speed and the same braking parameter. Therefore, the braking demands of different users under the same braking condition (i.e., the same braking time, the same vehicle speed and the same braking parameter) can be distinguished through different mapping relationships.

[0072] For example, the mapping relationship A can be used to represent the user with slow driving reaction speed and low driving operation fluency, and such users are usually users with short driving age, large age or in the state of fatigue driving; the mapping relationship B can be used to represent the user with good driving reaction speed and good driving operation fluency, and such users are usually users with general driving age (such as two to four years, etc.); and the mapping relationship C can be used to represent the user with fast driving reaction speed and high driving operation fluency, and such users are usually users with long driving age or professional driving users.

[0073] It should be noted that the training data described above is only an example, and the training data can include more or less data based on specific use needs, such as the training data can include at least one of the training data shown in Table One.

[0074] Table One

[0075] Braking time Driver reaction time Pedal travel change amount Current vehicle speed Time required for clutch release Pedal pressure Speed at maximum torque Maximum braking force Speed at maximum power Maximum speed Current gear ratio Vehicle launch speed Current speed Shift time Current load signal Gear shift time Current brake pedal travel Percentage of time the accelerator pedal is fully released Current battery state Percentage of time the accelerator pedal is depressed Final reduction ratio input speed Clutch pedal on percentage Final reduction ratio output speed

[0076] In some embodiments, after determining the plurality of mapping relationships, the target mapping relationship corresponding to the target user can also be determined based on active selection of the target user, such as the target user can select a mapping relationship from the plurality of mapping relationships as the target mapping relationship based on a voice instruction or a key instruction. For example, in terms of a key instruction, one or more keys can be provided in the vehicle, which can be physical keys or virtual keys of an electronic display interface. The target user sends a key instruction through the one or more keys, and the processor can receive the key instruction triggered by the target user and determine the target mapping relationship of the target user based on the key instruction.

[0077] Step 202: determining a braking demand torque based on the target braking demand, the current vehicle driving state, and the vehicle physical parameters, the vehicle driving state including vehicle speed, acceleration, and driving slope, and the vehicle physical parameters including vehicle body size and vehicle body weight.

[0078] It should be noted that the target braking demand can be understood as the braking intention of the target user under the current braking condition, and the braking control of the vehicle cannot be realized only by the braking intention. The braking demand torque required to realize the braking intention needs to be further determined in combination with the current vehicle driving state and the vehicle physical parameters to realize the braking control of the vehicle based on the braking demand torque.

[0079] During vehicle braking, the theoretical best braking force (i.e., theoretical best braking torque) of the vehicle can be obtained based on the driving state of the vehicle and the vehicle physical parameters, and then the final braking demand force (i.e., braking demand torque) can be obtained based on the target braking demand and the theoretical best braking force.

[0080] The determination of the braking demand torque can be determined based on a related formula, such as based on the current acceleration of the vehicle, the vehicle body weight, and the driving slope, the dynamic force of the vehicle in the horizontal direction of the road surface is determined through Newton's second law, the theoretical best braking force is determined based on the dynamic force, the vehicle speed, the vehicle body size, and other conditions, and then the braking demand torque is obtained based on the theoretical best braking force in combination with the target braking demand.

[0081] It should be noted that in some embodiments, the influence of the resistance during vehicle driving needs to be considered when determining the braking demand torque, such as considering the air resistance and the sliding resistance during vehicle driving.

[0082] Among them, the air resistance during vehicle driving can be determined based on the physical parameters of the vehicle and the vehicle speed. For example, it can be determined by Formula One:

[0083] F = 0.5 * p * v 2 *C*A Formula One

[0084] Wherein, F is air resistance, 0.5 is a proportional factor, indicating the mass of gas passing through a unit area per unit time, p is air density, v is the current vehicle speed, C is the wind resistance coefficient of the vehicle, which is related to the vehicle design and can be determined by the vehicle identification, and A is the cross-sectional area of the vehicle, which can be determined based on the body size.

[0085] The rolling resistance of the vehicle during driving can be determined based on the influence parameters of the rolling resistance, such as the physical parameters of the vehicle, the driving state of the vehicle, and the road conditions, etc. The physical parameters of the vehicle can include body weight, wheelbase, tire width, tire friction coefficient, etc. The driving state of the vehicle can include vehicle speed, vehicle acceleration, etc. The road conditions can include road material, road slope, road wetness, etc.

[0086] In some embodiments, a rolling resistance determination model can be constructed based on the above-mentioned influence parameters of the rolling resistance, and then the target model is obtained by fitting and correcting a large amount of experimental data, and the rolling resistance is determined based on the current influence parameters of the rolling resistance through the target model.

[0087] It should be noted that the above-mentioned air resistance and rolling resistance can be understood as the continuous braking force during the driving of the vehicle, and therefore in some embodiments, the initial braking demand torque can be determined based on the target braking demand, the current driving state of the vehicle, and the physical parameters of the vehicle, and the initial braking demand torque can be corrected based on the air resistance and the rolling resistance, and the corrected initial braking demand torque is determined as the braking demand torque.

[0088] For example, the initial braking demand torque can be determined based on the target braking demand, the current driving state of the vehicle, and the physical parameters of the vehicle, and the resistance torque during driving can be determined based on the current air resistance and the rolling resistance, and the difference between the initial braking demand torque and the resistance torque is determined as the braking demand torque.

[0089] In some embodiments, in the case of low vehicle speed (small initial braking demand torque) or large air resistance and rolling resistance (large resistance torque), the initial braking demand torque can be less than or equal to the resistance torque (i.e. the difference between the initial braking demand torque and the resistance torque is less than or equal to 0), indicating that the current vehicle braking (satisfying the braking intention of the target user) can be achieved only by air resistance and rolling resistance, and the processor can not perform the following step 203.

[0090] Step 203: determining a first target braking torque based on the braking demand torque, and performing vehicle braking and braking energy recovery based on the first target braking torque.

[0091] In some embodiments, the first target braking torque can be determined based on the braking demand torque when the current vehicle speed is greater than the speed threshold and the current battery capacity of the vehicle is less than the capacity threshold, the vehicle braking and the recovery of the braking energy can be performed based on the first target braking torque.

[0092] It should be noted that the braking mode and the braking energy recovery mode under different driving conditions are also different. For example, when the vehicle speed is low, the movement of the vehicle cannot completely drive the operation of the brake motor at this time, so the recovery of the braking energy cannot be realized, and the vehicle needs to be braked based on the mechanical braking. When the current battery capacity of the vehicle is high, in order to avoid the risk of overcharging of the battery caused by the recovered braking energy, the vehicle cannot be braked based on the brake motor and the recovery of the braking energy, and the vehicle needs to be braked based on the mechanical braking.

[0093] In some embodiments, the first target braking torque includes a first motor braking torque and a first mechanical braking torque; a torque threshold can be determined based on the current vehicle speed and the vehicle brake motor identifier; when the braking demand torque is greater than the torque threshold, the first motor braking torque is determined based on the torque threshold, and the difference between the braking demand torque and the first motor braking torque is determined as the first mechanical braking torque; the vehicle braking is performed based on the first motor braking torque and the first mechanical braking torque, and the recovery of the braking energy is performed based on the first motor braking torque.

[0094] It should be noted that the vehicle braking mode includes motor braking and mechanical braking. The motor braking mainly realizes the deceleration braking and energy recovery of the vehicle through the reverse torque generated by the motor, and the braking effect is relatively smooth, but the braking efficiency is relatively low, and the vehicle will produce inertial sliding. The mechanical braking mainly realizes the deceleration braking of the vehicle by pushing the brake pad to rub the rim through the hydraulic system, which can generate a large braking force and has a high braking efficiency, but the brake pad wears out greatly and the braking is harsh.

[0095] Therefore, in order to improve the braking efficiency of the vehicle and the driving smoothness during the braking process, the maximum torque allowed to be output by the motor at different vehicle speeds can be limited by setting the torque threshold of different motors at different vehicle speeds, so as to distribute the motor braking torque and the mechanical braking torque during the braking process based on the braking demand torque and the torque threshold.

[0096] In some embodiments, the influence of different braking torques output by different braking motors at different vehicle speeds on vehicle braking (such as changes in braking distance, changes in driving smoothness, etc.) can be determined based on experimental data. For example, for any motor and any vehicle speed, the influence of different braking torques output by the motor at the vehicle speed on vehicle braking can be determined based on experimental data, the maximum allowed output torque of the motor at the vehicle speed that does not affect braking effect and driving smoothness is analyzed, and the maximum allowed output torque is determined as the torque threshold of the motor at the vehicle speed, thereby obtaining torque thresholds of different braking motors at different vehicle speeds.

[0097] After obtaining the torque thresholds of different braking motors at different vehicle speeds, a torque threshold mapping relationship can be generated, which can be a three-dimensional map or a three-dimensional table, etc. The mapping relationship is used to indicate the correspondence between the braking motor identifier, the vehicle speed and the torque threshold. It can also be a plurality of two-dimensional maps or two-dimensional tables, such as the correspondence between the vehicle speed and the torque threshold corresponding to different braking motor identifiers. The processor determines the correspondence between the vehicle speed and the torque threshold corresponding to the current braking motor identifier based on the braking motor identifier of the current vehicle.

[0098] In some embodiments, considering that the driving habits of different target users are quite different, the correspondence between the braking motor identifier, the vehicle speed and the torque threshold can also be corrected based on the target mapping relationship. The specific correction relationship and correction method can be determined based on experimental test data.

[0099] Determining the first motor braking torque based on the torque threshold can refer to determining the maximum output torque currently allowed by the braking motor (i.e., the torque threshold) as the first motor braking torque.

[0100] When the braking demand torque is greater than the torque threshold, it indicates that the current braking demand torque is large, and only relying on the braking motor is insufficient to achieve the user's braking intention. At this time, the insufficient part, i.e., the difference between the braking demand torque and the torque threshold (the first motor braking torque), needs to be achieved through mechanical braking.

[0101] In some embodiments, after obtaining the first motor braking torque, the first motor braking torque can be sent to the braking motor, and the braking motor determines the motor speed and rotation direction based on the first motor braking torque. The rotation of the braking motor recovers the kinetic energy of the vehicle to achieve braking of the vehicle, and through the generator circuit of the motor, the recovered kinetic energy is converted into electrical energy and stored in the vehicle battery, achieving recovery of braking energy.

[0102] In some embodiments, after obtaining the first mechanical braking torque, the oil pressure of the hydraulic braking system can be adjusted based on the first mechanical braking torque to adjust the driving force of the brake pad and achieve adjustment of the mechanical braking force.

[0103] It should be noted that, based on the above description, the mechanical braking is mainly achieved by driving the friction between the brake pad and the wheel rim, the greater the driving force of the brake pad, the greater the fit degree of the brake pad and the wheel rim, and the greater the mechanical braking force.

[0104] In some embodiments, in the case that the braking demand torque is less than or equal to the torque threshold, a second motor braking torque is determined based on the braking demand torque; vehicle braking and braking energy recovery are performed based on the second motor braking torque.

[0105] In the case that the braking demand torque is less than or equal to the torque threshold, it indicates that the user's braking intention can be achieved only by motor braking at present, at this time the braking demand torque can be directly determined as the motor braking torque (i.e. the second motor braking torque), so as to realize the recovery of vehicle kinetic energy by the motor, and convert the recovered kinetic energy into electrical energy and store it in the battery.

[0106] In some embodiments, in the case that the current vehicle speed is less than or equal to the speed threshold, or the current battery capacity of the vehicle is greater than or equal to the capacity threshold, a second mechanical braking torque is determined based on the braking demand torque, and vehicle braking is performed based on the second mechanical braking torque.

[0107] Based on the above description, if the current vehicle speed is less than or equal to the speed threshold, or the current battery capacity of the vehicle is greater than or equal to the capacity threshold, since the vehicle cannot be braked by the motor at this time, the vehicle can be directly braked based on the mechanical braking.

[0108] In the embodiments of the present application, considering that different users have different driving habits, a plurality of mapping relationships are determined through a plurality of training data, and then a target mapping relationship is determined from the plurality of mapping relationships based on the driving parameters of the current vehicle, and the target mapping relationship is used to indicate the braking habit of the target user (i.e. the relationship between the braking time, vehicle speed, braking parameter and braking demand during vehicle driving). In the case that a braking instruction triggered by the target user is received, a target braking demand is determined based on the current braking time, vehicle speed, braking parameter and the target mapping relationship, and the vehicle is braked and energy is recovered through the target braking demand, so that the braking demand can fully consider the braking demand of different users in different driving scenarios, improve the flexibility of vehicle braking, and then determine a braking demand torque based on the current vehicle driving state, vehicle physical parameters and the target braking demand, and combine the current vehicle speed, vehicle battery capacity and other information to reasonably allocate the motor braking torque and the mechanical braking torque, brake the vehicle and recover the braking energy, fully consider the user's use and perception experience in the process of vehicle braking and braking energy recovery, and improve the flexibility of braking energy recovery.

[0109] Figure 3This is a schematic diagram of a braking energy recovery device provided in an embodiment of this application. The braking energy recovery device can be implemented as part or all of a braking energy recovery equipment by software, hardware, or a combination of both. The braking energy recovery equipment can be... Figure 1 The processor shown. Please refer to... Figure 3 The device includes: a demand determination module 301, a torque determination module 302, a braking module 303, and a mapping relationship determination module 304.

[0110] The demand determination module 301 is used to respond to the braking command triggered by the target user and determine the target braking demand based on the current braking time, current vehicle speed, current braking parameters and target mapping relationship. The target mapping relationship is used to indicate the relationship between braking time, vehicle speed, braking parameters and braking demand during vehicle operation. The braking parameters include brake pedal pressure and / or brake pedal travel.

[0111] The torque determination module 302 is used to determine the braking torque demand based on the target braking demand, the current vehicle driving state, and the vehicle physical parameters, including vehicle speed, acceleration, and driving gradient, and vehicle physical parameters including vehicle size and vehicle weight.

[0112] The braking module 303 is used to determine a first target braking torque based on the braking demand torque, and to perform vehicle braking and braking energy recovery based on the first target braking torque.

[0113] Optionally, the device further includes a mapping relationship determination module 304, which is used for:

[0114] Multiple mapping relationships are determined based on multiple sets of training data. Each set of training data includes driver reaction time, braking time, vehicle speed, pedal travel, pedal pressure, clutch release time and braking force.

[0115] The driving parameters during vehicle operation are acquired. Based on these driving parameters, the mapping relationship that best matches the driving parameters is determined from multiple mapping relationships as the target mapping relationship. These driving parameters include driver reaction time, braking time, vehicle speed, pedal travel, pedal pressure, and / or clutch release time.

[0116] Optionally, the braking module 303 is specifically used for:

[0117] When the current vehicle speed is greater than the speed threshold and the current battery capacity is less than the capacity threshold, the first target braking torque is determined based on the braking demand torque, and vehicle braking and braking energy recovery are performed based on the first target braking torque.

[0118] Optionally, the first target braking torque comprises a first motor braking torque and a first mechanical braking torque; the braking module 303 is specifically used for:

[0119] determining a torque threshold based on the current vehicle speed and the vehicle braking motor identifier;

[0120] in a case where the braking demand torque is greater than the torque threshold, determining the first motor braking torque based on the torque threshold, and determining the first mechanical braking torque as a difference between the braking demand torque and the first motor braking torque;

[0121] performing vehicle braking based on the first motor braking torque and the first mechanical braking torque, and performing braking energy recovery based on the first motor braking torque.

[0122] Optionally, the braking module 303 is further used for:

[0123] in a case where the braking demand torque is less than or equal to the torque threshold, determining a second motor braking torque based on the braking demand torque;

[0124] performing vehicle braking and braking energy recovery based on the second motor braking torque.

[0125] Optionally, the braking module 303 is further used for:

[0126] in a case where the current vehicle speed is less than or equal to the speed threshold, or the current battery capacity of the vehicle is greater than or equal to the capacity threshold, determining a second mechanical braking torque based on the braking demand torque, and performing vehicle braking based on the second mechanical braking torque.

[0127] In the embodiments of the present application, considering that different users have different driving habits, a plurality of mapping relationships are determined through a plurality of sets of training data, and then a target mapping relationship is determined from the plurality of mapping relationships based on driving parameters of the current vehicle, and the target mapping relationship is used to indicate the braking habit of the target user (i.e., the relationship between the braking time, the vehicle speed, the braking parameter and the braking demand during vehicle driving). In a case where a braking instruction triggered by the target user is received, a target braking demand is determined based on the current braking time, the vehicle speed, the braking parameter and the target mapping relationship, and the target braking demand is used to realize vehicle braking and energy recovery, so that the braking demand can fully consider the braking demand of different users in different driving scenarios, improve the flexibility of vehicle braking, and then determine a braking demand torque based on the current vehicle driving state, the vehicle physical parameter and the target braking demand, and combine the current vehicle speed, the vehicle battery capacity and other information to reasonably allocate the motor braking torque and the mechanical braking torque, perform vehicle braking and braking energy recovery, and fully consider the user's use and perception experience in the process of vehicle braking and braking energy recovery, and improve the flexibility of braking energy recovery.

[0128] It should be noted that the above-mentioned embodiments provide a brake energy recovery device, when realizing vehicle braking and brake energy recovery, only the above-mentioned division of each functional module is exemplified, in actual application, the above-mentioned functions can be distributed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the brake energy recovery device and the brake energy recovery method provided by the above-mentioned embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0129] Figure 4 is a structural block diagram of a vehicle 400 provided by an embodiment of the present application.

[0130] Generally, the vehicle 400 includes a processor 401 and a memory 402.

[0131] The processor 401 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 401 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 401 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 401 can be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 401 can also include an AI (Artificial Intelligence) processor for processing machine learning-related computing operations.

[0132] The memory 402 can include one or more computer-readable storage media. The computer-readable storage media can be non-transitory. The memory 402 can also include high-speed random access memory and can include non-volatile memory, such as one or more magnetic disk storage devices, optical storage devices, flash memory devices, or other non-volatile solid-state storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 402 stores at least one instruction for execution by the processor 401 to implement the brake energy recovery method provided by the method embodiments of the present application.

[0133] In some embodiments, a computer-readable storage medium is also provided, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the brake energy recovery method in the above embodiments are implemented. For example, the computer-readable storage medium can be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0134] It is worth noting that the computer-readable storage medium mentioned in the embodiments of the present application can be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0135] It should be understood that all or part of the steps of the above-mentioned embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product entirely or partially. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above-mentioned computer-readable storage medium.

[0136] That is, in some embodiments, a computer program product including instructions which, when run on a computer, cause the computer to perform the steps of the brake energy recovery method described above is also provided.

[0137] It should be understood that "at least one" mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein is only a description of the association between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, "first", "second", and the like are used to distinguish the same or similar items with basically the same function and role in the embodiments of the present application. Those skilled in the art can understand that "first", "second", and the like do not limit the quantity and execution order, and "first", "second", and the like do not necessarily mean different.

[0138] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0139] The above describes the embodiments provided by the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A brake energy recovery method, characterized by, The method comprises: in response to a brake instruction triggered by a target user, determining a target braking demand based on a current braking time, a current vehicle speed, a current braking parameter, and a target mapping relationship, the target mapping relationship being used to indicate a relationship between a braking time, a vehicle speed, a braking parameter, and a braking demand during vehicle driving, the braking parameter comprising a brake pedal pressure and / or a brake pedal stroke; determining a braking demand torque based on the target braking demand, a current vehicle driving state, and vehicle physical parameters, the vehicle driving state comprising a vehicle speed, an acceleration, and a driving slope, the vehicle physical parameters comprising a vehicle body size and a vehicle body weight; determining a first target braking torque based on the braking demand torque, and performing vehicle braking and braking energy recovery based on the first target braking torque; Before the determining of the target braking demand based on the current braking time, the current vehicle speed, the current braking parameter, and the target mapping relationship corresponding to the target user, the method further comprises: determining a plurality of mapping relationships based on a plurality of sets of training data, each set of training data comprising a driver reaction time, a braking time, a vehicle speed, a pedal stroke, a pedal pressure, a clutch release time required, and a braking force; obtaining driving parameters during vehicle driving, and determining, based on the driving parameters, a mapping relationship that best matches the driving parameters from the plurality of mapping relationships as the target mapping relationship, the driving parameters comprising a driver reaction time, a braking time, a vehicle speed, a pedal stroke, a pedal pressure, and / or a clutch release time required.

2. The method of claim 1, wherein, The determining of the first target braking torque based on the braking demand torque, and the performing of vehicle braking and braking energy recovery based on the first target braking torque, comprises: in a case where the current vehicle speed is greater than a speed threshold value and the current battery capacity of the vehicle is less than a capacity threshold value, determining the first target braking torque based on the braking demand torque, and performing vehicle braking and braking energy recovery based on the first target braking torque.

3. The method of claim 1 or 2, wherein, The first target braking torque comprises a first motor braking torque and a first mechanical braking torque; The determining of the first target braking torque based on the braking demand torque, and the performing of vehicle braking and braking energy recovery based on the first target braking torque, comprises: determining a torque threshold value based on the current vehicle speed and a vehicle braking motor identifier; in a case where the braking demand torque is greater than the torque threshold value, determining the first motor braking torque based on the torque threshold value, and determining a difference between the braking demand torque and the first motor braking torque as the first mechanical braking torque; performing vehicle braking based on the first motor braking torque and the first mechanical braking torque, and performing braking energy recovery based on the first motor braking torque.

4. The method of claim 3, wherein, After the determining of the torque threshold value based on the current vehicle speed and the vehicle braking motor identifier, the method further comprises: in a case where the braking demand torque is less than or equal to the torque threshold value, determining a second motor braking torque based on the braking demand torque; performing vehicle braking and braking energy recovery based on the second motor braking torque.

5. The method of claim 2, wherein, The method further comprises: In a case that the current vehicle speed is less than or equal to the speed threshold value, or the current battery capacity of the vehicle is greater than or equal to the capacity threshold value, a second mechanical brake torque is determined based on the brake demand torque, and vehicle braking is performed based on the second mechanical brake torque.

6. A brake energy recovery device characterized by comprising: The device comprises: a demand determination module configured to determine a target brake demand based on a current brake time, a current vehicle speed, a current brake parameter, and a target mapping relationship in response to a brake instruction triggered by a target user, the target mapping relationship being configured to indicate a relationship between a brake time, a vehicle speed, a brake parameter, and a brake demand during vehicle driving, the brake parameter including a brake pedal pressure and / or a brake pedal stroke; a torque determination module configured to determine a brake demand torque based on the target brake demand, a current vehicle driving state, and a vehicle physical parameter, the vehicle driving state including a vehicle speed, an acceleration, and a driving slope, the vehicle physical parameter including a vehicle body size and a vehicle body weight; a brake module configured to determine a first target brake torque based on the brake demand torque, perform vehicle braking and brake energy recovery based on the first target brake torque; The device further comprises a mapping relationship determination module configured to: determine a plurality of mapping relationships based on a plurality of sets of training data, each set of training data including a driver reaction time, a brake time, a vehicle speed, a pedal stroke, a pedal pressure, a clutch release time, and a brake force; obtain driving parameters during vehicle driving, and determine a mapping relationship that is most matched with the driving parameters from the plurality of mapping relationships as the target mapping relationship based on the driving parameters, the driving parameters including a driver reaction time, a brake time, a vehicle speed, a pedal stroke, a pedal pressure, and / or a clutch release time.

7. A vehicle characterized by comprising: The vehicle comprises a memory and a processor, the memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory to implement the steps of the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium has a computer program stored therein, and the computer program is executed by a processor to implement the steps of the method of any one of claims 1-5.

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