A torque control method, system and medium for coordinated operation of wheel hub power generation and brake energy recovery

Abstract

The present invention belongs to the technical field of new energy electric vehicles and relates to a torque control method, system, and medium for the coordinated operation of an in-wheel power generation device and brake energy recovery. The method comprises obtaining vehicle driving information and road conditions, and determining which energy recovery mode the vehicle is in based on the driving information and road conditions; calculating the negative torque generated by the in-wheel power generation device and the maximum braking target torque required based on the energy recovery mode the vehicle is in; determining whether to perform brake torque compensation based on the vehicle driving state, calculating a brake torque compensation coefficient, and obtaining a corresponding brake torque compensation value; and determining whether to perform mechanical braking of the vehicle in response to each calculated torque value, and distributing the braking force for brake output via a vehicle controller. The present invention can effectively control the corresponding torque of the vehicle during the vehicle energy recovery process, thereby improving the endurance of the electric vehicle and ensuring driving safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of new energy electric vehicles, and in particular relates to a torque control method, system and medium for coordinated operation of wheel hub power generation and brake energy recovery. Background Art

[0002] With the development of new energy technologies, new energy electric vehicles are occupying an increasingly larger share of the market. Range is a key metric for evaluating electric vehicle performance. Electric vehicles perform coasting and braking energy recovery during coasting and braking to increase their range. However, compared to traditional fuel vehicles, electric vehicles still have some range issues. Some electric vehicles use CRBS to manage vehicle braking energy recovery. For example, the prior art CN108528454A discloses a braking energy recovery method, braking energy recovery system, and vehicle. This method comprises: Step S1, when the vehicle is in adaptive cruise control mode and the cruise torque is less than a preset threshold, simultaneously obtaining the total braking torque required by the vehicle and the energy recovery torque that can be generated by the energy recovery system; Step S2, comparing the total braking torque with the energy recovery torque; Step S3, allocating the total braking torque based on the comparison result. If the total braking torque is less than the energy recovery torque, braking is performed using the energy recovery system; if the total braking torque is greater than the energy recovery torque, the excess braking torque is generated by the braking system. This brake energy recovery method effectively recovers and stores braking energy through the energy recovery system even when the vehicle is in adaptive cruise control, extending the vehicle's range under these conditions and improving overall vehicle economy. While the motor control system performs energy recovery during braking or coasting, frequent starting and acceleration require high-rate discharge. This can lead to rapid changes in motor torque and the negative torque potentially exceeding the road's adhesion limit, potentially causing wheel lock and triggering the vehicle's anti-lock brake system (ABS). This can severely impact the vehicle's cycle life and energy efficiency, reducing its power and range, and compromising driving safety.

[0003] In-wheel generators (IWGs) rotate as electric vehicles travel, with the rotor cutting through the stator's magnetic flux lines to charge the battery. During the vehicle's energy recovery process, coordinating the negative torque generated by the IWGs with the braking torque of the Cooperative Regenerative Brake Systems (CRBS) to brake the electric vehicle, improve its range, and ensure driving safety is a critical issue that needs to be addressed. Summary of the Invention

[0004] The present invention overcomes the shortcomings of the above-mentioned technical problems and provides a torque control method, system and medium for coordinated work of wheel hub power generation and brake energy recovery, which can effectively control the corresponding torque of the vehicle during the vehicle energy recovery process, improve the endurance of electric vehicles, and ensure driving safety.

[0005] In a first aspect, the present invention provides a torque control method for coordinated in-wheel power generation and brake energy recovery, the method comprising:

[0006] Obtaining vehicle driving information and road conditions, wherein the driving information includes vehicle speed, brake signal, and brake pedal opening; the road conditions include following distance and a 3D map of the vehicle's surroundings;

[0007] Determine which energy recovery mode the vehicle enters based on driving information and road conditions;

[0008] Based on the energy recovery mode of the vehicle, the negative torque generated by the wheel hub generator and the maximum braking target torque are calculated;

[0009] According to the vehicle driving state, determine whether to perform brake torque compensation, calculate the brake torque compensation coefficient, and obtain the corresponding brake torque compensation value;

[0010] In response to the calculated torque values, it is determined whether the vehicle is to be mechanically braked, and the braking force is distributed through the vehicle controller for braking output.

[0011] Preferably, the method further comprises:

[0012] If it is determined that the vehicle is mechanically braking, and the mechanical braking is being performed during normal driving, the acquisition module extracts the brake pedal opening, and the calculation module calculates the maximum braking target required torque. The calculation module also predicts the front and rear wheel slip rates. When the predicted front and rear wheel slip rates are within a preset range, the brake energy recovery system and the wheel hub generator are activated;

[0013] The slip ratio satisfies the following conditional formula:

[0014]

[0015] Where, is the slip rate, u is the vehicle speed, is the wheel rolling angular velocity, r is the wheel radius;

[0016] The calculation module calculates the negative torque of the wheel hub generator;

[0017] Calculating a front axle energy recovery torque requirement value and a rear axle energy recovery torque requirement value according to the difference between the maximum braking target required torque and the negative torque;

[0018] Based on the front and rear axle braking torque demand values, the negative torque of the wheel hub generator, and the predicted slip rate, the actual front axle braking torque value and the actual rear axle braking torque value are obtained.

[0019] Preferably, when the predicted slip ratio is not within the preset range, the braking energy recovery system is activated first, and the vehicle speed is reduced to a level where the slip ratio meets the requirement through mechanical braking.

[0020] Preferably, the method further comprises:

[0021] According to the change of negative torque of the wheel hub generator, the front and rear axle torque increase request is executed, and the front and rear axle braking torque compensation coefficients are obtained by the calculation module;

[0022] Based on the front and rear axle brake torque compensation coefficients, the calculation module calculates the front and rear axle brake torque compensation requirements;

[0023] Based on the front and rear axle braking torque compensation demand values, negative torque change and braking torque value, the front axle braking torque compensation actual value and the rear axle braking torque compensation actual value are obtained to perform the torque increase operation.

[0024] Preferably, the method further comprises:

[0025] If it is determined that the vehicle is not in mechanical braking, the brake pedal opening and the accelerator pedal opening are set to "0" to determine whether the vehicle is in a coasting state. If the vehicle is in a coasting state, the vehicle enters a coasting energy recovery state;

[0026] The acquisition module obtains the current vehicle speed and determines whether the vehicle speed is within a preset threshold range;

[0027] When the vehicle speed is within the preset threshold, the wheel hub generator is activated for energy recovery and braking.

[0028] Preferably, if the vehicle speed in the coasting state exceeds a preset threshold, the wheel hub generator and the brake energy recovery system are activated;

[0029] The calculation module calculates the maximum braking target demand torque value and the negative torque of the hub power generation device in the coasting state; based on the maximum braking target demand torque value and the negative torque of the hub power generation device, the front axle braking torque target value and the rear axle braking torque target value are obtained; based on the vehicle speed, the front and rear axle braking torque target values, and the negative torque of the hub power generation device, the actual values ​​of the front and rear axle braking torque are obtained.

[0030] Preferably, if the negative torque, braking torque and torque-up operation of the wheel hub generator and the brake energy recovery system in the activated state cannot meet the braking demand, the mechanical brake is turned on until the vehicle speed reaches a preset range.

[0031] Preferably, the method further comprises:

[0032] When the vehicle is in a low-speed coasting state, the wheel hub generator is activated and coupled to the energy recovery system through the clutch, and the negative torque generated by the wheel hub generator is used for braking;

[0033] When the vehicle's brake pedal opening is greater than 80%, the ABS system is activated through the control module, and the electric vehicle is braked using mechanical brakes to control the wheel slip rate within a preset range.

[0034] In a second aspect, the present invention provides a torque control system in which wheel hub power generation and brake energy recovery work in coordination, comprising:

[0035] an acquisition module for acquiring vehicle driving information and road conditions, wherein the driving information includes vehicle speed, wheel rolling angular velocity, brake signal, brake pedal opening, and accelerator pedal opening; and the road conditions include following distance and a 3D map of the vehicle's surroundings;

[0036] a calculation module, configured to determine and compare vehicle information with a preset threshold, predict the slip rate based on vehicle speed, wheel rolling angular velocity, and radius, calculate the maximum target braking torque and the negative torque of the wheel hub generator based on real-time vehicle information, and further calculate the actual values ​​of the front and rear axle braking torques; and calculate the front and rear axle braking torque compensation coefficients, the front and rear axle braking torque compensation requirements, and the actual values ​​of the front and rear axle braking torque compensation based on the change in the negative torque of the wheel hub generator and the vehicle speed;

[0037] Control module for activating the brake energy recovery system and the wheel hub generator.

[0038] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when run, executes the torque control method for coordinated wheel hub power generation and brake energy recovery as described above.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention discloses a torque control method for in-wheel power generation and brake energy recovery, which effectively controls the corresponding torque of the vehicle during energy recovery, improving the endurance of electric vehicles and ensuring driving safety. First, vehicle driving information and road conditions are obtained, including vehicle speed, braking signal, and brake pedal opening. The road conditions include following distance and a 3D map of the vehicle's surroundings. Second, based on the driving information and road conditions, the vehicle's energy recovery mode is determined. Third, based on the vehicle's energy recovery mode, the negative torque generated by the in-wheel power generation device and the maximum target braking torque are calculated. Then, based on the vehicle's driving state, a determination is made as to whether brake torque compensation should be performed, a brake torque compensation coefficient is calculated, and a corresponding brake torque compensation value is obtained. Finally, based on the calculated torque values, a determination is made as to whether the vehicle should perform mechanical braking, and braking force is distributed through the vehicle controller for braking output. Based on the negative torque generated by the in-wheel power generation device and the maximum target braking torque, the energy recovery torque can be accurately and in real time, enabling real-time control of the energy recovery torque. This improves vehicle driving safety and stability, increases vehicle energy recovery efficiency, and enhances vehicle endurance.

[0041] The present invention charges the battery through the wheel hub generator, and effectively brakes the electric vehicle by coordinating the negative torque generated during the power generation process with the braking torque of the Cooperative Regenerative Brake Systems (CRBS), while improving the electric vehicle's endurance.

[0042] The present invention designs a dynamic energy-saving torque control method, which can not only use the hub power generation device coupled to the braking system to brake through the negative torque generated by it, but also use mechanical braking to brake the electric vehicle, so that the motor operates in the high-efficiency area, reducing the energy consumption of the whole vehicle and improving the energy utilization rate. In addition, the hub power generation device is combined to relieve the working pressure of the motor, meet the vehicle's needs for high-power discharge and brake energy recovery, and extend the driving range. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of the torque control method for the coordinated operation of wheel hub power generation and brake energy recovery;

[0044] Figure 2 This is a chassis diagram of a vehicle where wheel hub power generation and brake energy recovery work together;

[0045] Figure 3 This is a schematic diagram of the torque control method that uses in-wheel power generation and brake energy recovery to work together;

[0046] Figure 4 This is a block diagram of the torque control system that works in conjunction with wheel hub power generation and brake energy recovery;

[0047] In the figure, the reference numerals are: 1. clutch; 2. hub generator; 3. power system. DETAILED DESCRIPTION

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that the specific embodiments of the present invention are only for the purpose of more clearly describing the technical solution and are not intended to limit the scope of protection of the present invention.

[0049] See also Figures 1-4 In a first aspect, the present invention provides a torque control method for in-wheel power generation and brake energy recovery working in coordination, the method comprising:

[0050] S1. Obtain vehicle driving information and road conditions, the driving information includes speed, brake signal and brake pedal opening; the road conditions include following distance, 3D map around the vehicle;

[0051] S2. Based on driving information and road conditions, the vehicle determines which energy recovery mode to enter. These modes primarily include braking energy recovery and coasting energy recovery. These modes recover excess energy released during braking or coasting, convert it into electrical energy through a generator, and store it in a battery for subsequent acceleration.

[0052] S3. Calculate the negative torque generated by the wheel hub generator and the maximum braking target torque based on the vehicle's energy recovery mode;

[0053] S4. According to the vehicle driving state, determine whether to perform brake torque compensation, calculate the brake torque compensation coefficient, and obtain the corresponding brake torque compensation value;

[0054] S5. In response to the calculated torque values, determine whether the vehicle is to be mechanically braked, and distribute the braking force through the vehicle controller (VCU) for braking output.

[0055] All modules, systems and MCUs in the present invention are electrically connected to the VCU and receive VCU signal control;

[0056] By default, the wheel hub generator has a higher priority than the brake energy recovery system.

[0057] Figure 2 The power system shown includes a motor, a differential, a reducer, and a clutch that controls the start and stop of the hub generator to couple it to the braking system.

[0058] In a second aspect, the present invention provides a torque control system in which wheel hub power generation and brake energy recovery work in coordination, comprising:

[0059] The acquisition module is used to obtain vehicle driving information and road conditions. The driving information includes vehicle speed, wheel rolling angular velocity, braking signal, brake pedal opening and accelerator pedal opening; the road conditions include following distance and 3D map of the vehicle's surroundings; all of the above information will be uploaded to the VCU and displayed on the central control screen in the vehicle cab.

[0060] a calculation module, configured to determine and compare the vehicle information with a preset threshold, predict the slip rate based on vehicle speed, wheel rolling angular velocity, and radius, calculate the maximum target braking torque and the negative torque of the wheel hub generator 2 based on real-time vehicle information, and further calculate the actual values ​​of the front and rear axle braking torques; and calculate the front and rear axle braking torque compensation coefficients, the front and rear axle braking torque compensation requirements, and the front and rear axle braking torque compensation actual values ​​based on the change in the negative torque of the wheel hub generator 2 and the vehicle speed;

[0061] The control module is used to activate the braking energy recovery system and the wheel hub generator 2.

[0062] Preferably, the torque control method for coordinated wheel hub power generation and brake energy recovery of the present invention further includes:

[0063] If it is determined that the vehicle is mechanically braking, and the mechanical braking is being performed during normal driving, the acquisition module extracts the brake pedal opening, receives the signal through the VCU, and controls the calculation module to calculate the maximum braking target required torque. The calculation module predicts the front and rear wheel slip rates. When the predicted front and rear wheel slip rates are within a preset range, the brake energy recovery system and the wheel hub generator device 2 are activated; the control module controls the clutch 1 to couple the wheel hub generator device 2 to the braking system;

[0064] The slip ratio satisfies the following conditional formula:

[0065]

[0066] Where, is the slip rate, u is the vehicle speed, is the wheel rolling angular velocity, r is the wheel radius;

[0067] The calculation module calculates the negative torque of the wheel hub generator 2; calculates the front axle energy recovery torque requirement value and the rear axle energy recovery torque requirement value according to the difference between the maximum braking target required torque and the negative torque;

[0068] The calculation module calculates the actual front and rear axle braking torque values ​​based on the front and rear axle braking torque requirements, the negative torque of the wheel hub generator 2, and the predicted slip ratio. The calculation module transmits these actual front and rear axle braking torque values ​​to the VCU, which instructs the MCU to output the desired front and rear axle braking torque values.

[0069] Preferably, when the predicted slip rate is not within the preset range, the braking energy recovery system is activated first, and the vehicle speed is reduced to the slip rate that meets the requirement through mechanical braking; when the slip rate meets the requirement, the energy recovery system and the hub power generation device 2 are activated, the acquisition module obtains the current real-time situation of the vehicle, the laser radar obtains the 3D map around the vehicle, the calculation module calculates the required mechanical braking torque, and sends the signal to the VCU, the VCU controls the MCU to output torque to reduce the vehicle speed to the slip rate that meets the requirement, the control module activates the energy recovery system and the hub power generation device 2, and the clutch 1 couples the hub power generation device 2 to the braking system.

[0070] Preferably, the method further includes controlling the vehicle to perform a torque-increasing operation, specifically:

[0071] According to the change of negative torque of the wheel hub generator 2, the acquisition module sends a signal to the VCU, the VCU executes the front and rear axle torque increase request, and the calculation module obtains the front and rear axle braking torque compensation coefficient;

[0072] Based on the front and rear axle brake torque compensation coefficients, the calculation module calculates the front and rear axle brake torque compensation requirements;

[0073] Based on the front and rear axle braking torque compensation demand values, negative torque changes and braking torque values, the front axle braking torque compensation actual value and the rear axle braking torque compensation actual value are obtained, and the VCU controls the MCU to output the front and rear axle braking torques to perform the torque increase operation.

[0074] Preferably, the method further comprises:

[0075] If it is determined that the vehicle is not in mechanical braking, the brake pedal opening and the accelerator pedal opening are "0" to determine whether the vehicle is in a coasting state. If the brake pedal opening and the accelerator pedal opening are "0", the ABS system is not activated, that is, the vehicle is in a coasting state. If the vehicle is in a coasting state, the vehicle enters a coasting energy recovery state;

[0076] The acquisition module obtains the current vehicle speed and determines whether the vehicle speed is within a preset threshold range;

[0077] When the vehicle speed is within the preset threshold, the wheel hub generator 2 is activated for energy recovery and braking.

[0078] The control module activates the wheel hub generator 2 and the brake energy recovery system. The control module controls the clutch 1 to couple the wheel hub generator to the braking system. The calculation module calculates the maximum braking target demand torque value in the coasting state and the negative torque of the wheel hub generator 2. Based on the maximum braking target demand torque value and the negative torque of the wheel hub generator 2, the front axle braking torque target value and the rear axle braking torque target value are obtained. Based on the front and rear axle braking torque target values, the negative torque of the wheel hub generator 2 and the predicted slip rate, the actual values ​​of the front and rear axle braking torques are obtained. The VCU controls the MCU to output the torque.

[0079] Preferably, if the vehicle speed in the coasting state exceeds a preset threshold, the wheel hub generator 2 and the braking energy recovery system are activated;

[0080] The calculation module calculates the maximum braking target demand torque value and the negative torque of the hub generator 2 in the coasting state; based on the maximum braking target demand torque value and the negative torque of the hub generator 2, the front axle braking torque target value and the rear axle braking torque target value are obtained; based on the vehicle speed, the front and rear axle braking torque target values, and the negative torque of the hub generator 2, the front and rear axle braking torque actual values ​​are obtained.

[0081] Preferably, if the negative torque, braking torque and torque-up operation of the wheel hub generator 2 and the brake energy recovery system in the activated state cannot meet the braking demand, the mechanical brake is turned on until the vehicle speed reaches a preset range.

[0082] Preferably, the method further comprises:

[0083] When the vehicle is in a low-speed coasting state, for example, the vehicle speed v≤5km / h, the acquisition module sends a signal to the VCU, the control module activates the recovery device of the wheel hub generator 2, and the VCU couples the wheel hub generator 2 into the braking system through the clutch 1, and brakes with the negative torque generated by it;

[0084] When the brake pedal opening sensor detects that the vehicle's brake pedal opening is greater than 80% and the brake pedal angular velocity is greater than a preset threshold, the VCU activates the ABS system and uses mechanical braking to brake the electric vehicle. The calculation module calculates the vehicle tire slip rate and controls the vehicle tire slip rate within the preset threshold.

[0085] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when run, executes the torque control method for coordinated wheel hub power generation and brake energy recovery as described above.

[0086] The above description is a detailed description of the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the patent application of the present invention. Any equivalent changes or modifications completed under the technical spirit suggested by the present invention should fall within the patent scope covered by the present invention.

Claims

1. A torque control method for the coordinated operation of wheel hub power generation and brake energy recovery, characterized in that: The method comprises: Obtaining vehicle driving information and road conditions, wherein the driving information includes vehicle speed, brake signal, and brake pedal opening; the road conditions include following distance and a 3D map of the vehicle's surroundings; Determine which energy recovery mode the vehicle enters based on driving information and road conditions; Based on the energy recovery mode of the vehicle, the negative torque generated by the wheel hub generator and the maximum braking target torque are calculated; According to the vehicle driving state, determine whether to perform brake torque compensation, calculate the brake torque compensation coefficient, and obtain the corresponding brake torque compensation value; In response to the calculated torque values, determining whether the vehicle is to be mechanically braked, and distributing the braking force through the vehicle controller for braking output; The method further comprises: If it is determined that the vehicle is mechanically braking, and the mechanical braking is being performed during normal driving, the acquisition module extracts the brake pedal opening, and the calculation module calculates the maximum braking target required torque. The calculation module also predicts the front and rear wheel slip rates. When the predicted front and rear wheel slip rates are within a preset range, the brake energy recovery system and the wheel hub generator are activated; The slip ratio satisfies the following conditional formula: Where, is the slip rate, u is the vehicle speed, is the wheel rolling angular velocity, r is the wheel radius; The calculation module calculates the negative torque of the wheel hub generator; Calculating a front axle energy recovery torque requirement value and a rear axle energy recovery torque requirement value according to the difference between the maximum braking target required torque and the negative torque; Based on the front and rear axle braking torque demand values, the negative torque of the wheel hub generator, and the predicted slip rate, the actual front axle braking torque value and the actual rear axle braking torque value are obtained; When the predicted slip ratio is not within the preset range, the braking energy recovery system is activated first, and the vehicle speed is reduced to the required slip ratio through mechanical braking; The method further comprises: If the vehicle is judged to be in mechanical braking, the vehicle is judged to be in coasting state by checking whether the brake pedal opening and the accelerator pedal opening are "0". If the vehicle is in coasting state, the vehicle enters the coasting energy recovery state; The acquisition module obtains the current vehicle speed and determines whether the vehicle speed is within a preset threshold range; When the vehicle speed is within the preset threshold, the wheel hub generator is activated for energy recovery and braking.

2. The torque control method for coordinated in-wheel power generation and braking energy recovery according to claim 1, characterized in that: The method further comprises: According to the change of negative torque of the wheel hub generator, the front and rear axle torque increase request is executed, and the front and rear axle braking torque compensation coefficients are obtained by the calculation module; Based on the front and rear axle brake torque compensation coefficients, the calculation module calculates the front and rear axle brake torque compensation requirements; Based on the front and rear axle braking torque compensation demand values, negative torque change and braking torque value, the front axle braking torque compensation actual value and the rear axle braking torque compensation actual value are obtained to perform the torque increase operation.

3. The torque control method for coordinated in-wheel power generation and braking energy recovery according to claim 1 is characterized in that: If the vehicle speed in the coasting state exceeds the preset threshold, the wheel hub generator and the brake energy recovery system are activated; The calculation module calculates the maximum braking target required torque value in the coasting state and the negative torque of the wheel hub generator; Based on the maximum braking target torque value and the negative torque of the wheel hub generator, a front axle braking torque target value and a rear axle braking torque target value are obtained; The actual values ​​of the front and rear axle braking torques are obtained based on the vehicle speed, the front and rear axle braking torque target values, and the negative torque of the wheel hub generator.

4. The torque control method for coordinated in-wheel power generation and brake energy recovery according to claim 2, characterized in that: If the negative torque, braking torque and torque-up operation in the activated state of the wheel hub generator and the brake energy recovery system cannot meet the braking demand, the mechanical brake is turned on until the vehicle speed reaches a preset range.

5. The torque control method for coordinated operation of wheel hub power generation and brake energy recovery according to claim 1, characterized in that: The method further comprises: When the vehicle is in a low-speed coasting state, the wheel hub generator is activated and coupled to the energy recovery system through the clutch, and the negative torque generated by the wheel hub generator is used for braking; When the vehicle's brake pedal opening is greater than 80%, the ABS system is activated through the control module, and the electric vehicle is braked using mechanical brakes to control the wheel slip rate within a preset range.

6. A torque control system using the torque control method of in-wheel power generation and brake energy recovery working in coordination as claimed in claim 1, characterized in that: include: an acquisition module for acquiring vehicle driving information and road conditions, wherein the driving information includes vehicle speed, wheel rolling angular velocity, brake signal, brake pedal opening, and accelerator pedal opening; and the road conditions include following distance and a 3D map of the vehicle's surroundings; a calculation module, configured to determine and compare vehicle information with a preset threshold, predict the slip rate based on vehicle speed, wheel rolling angular velocity, and radius, calculate the maximum target braking torque and the negative torque of the wheel hub generator based on real-time vehicle information, and further calculate the actual values ​​of the front and rear axle braking torques; and calculate the front and rear axle braking torque compensation coefficients, the front and rear axle braking torque compensation requirements, and the actual values ​​of the front and rear axle braking torque compensation based on the change in the negative torque of the wheel hub generator and the vehicle speed; Control module for activating the brake energy recovery system and the wheel hub generator.

7. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is run, the torque control method for coordinated wheel hub power generation and brake energy recovery as claimed in any one of claims 1 to 5 is executed.

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