Energy recovery exit method and device, electronic equipment and storage medium

Abstract

The invention provides an energy recovery quit method and device, electronic equipment and a storage medium, the energy recovery quit method and device are applied to an ESC system, the ESC system is carried on a new energy automobile, and the energy recovery quit method comprises the following steps that in the starting state, recovery torque is determined; and determining a first adhesion coefficient according to the recovery torque, identifying a second adhesion coefficient, and determining an energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient. According to the method, the energy recovery exit strategy can be determined according to the current road adhesion coefficient, and the situation that when the current road adhesion coefficient is low, the direction is out of control or drifting occurs is prevented.

Description

[Technical field]

[0001] The present application relates to the technical field of vehicle control, and in particular to an energy recovery exit method, device, electronic device and storage medium. [Background technology]

[0002] With the development of new energy vehicles, the total cruising range requirements are getting higher and higher. In order to improve the cruising range of the whole vehicle, the vehicle is equipped with the coasting energy recovery function and the braking energy recovery function. Specifically, when the new energy vehicle decelerates, the inertia is used to drive the motor to generate electricity. At the same time, the motor applies a braking torque to the drive shaft, that is, the energy recovery torque;

[0003] Here, the energy recovery torque is not controlled by the braking operation of the system. If the ground adhesion coefficient is low, the drive wheels may easily lock, and the vehicle may lose directional control and skid. [Summary of the invention]

[0004] The present application provides an energy recovery exit method, device, electronic device and storage medium. Through the present application, the energy recovery exit strategy can be determined according to the current road adhesion coefficient to prevent loss of control or tailspin when the current road adhesion coefficient is low.

[0005] In a first aspect, an energy recovery exit method is applied to an ESC system, wherein the ESC system is mounted on a new energy vehicle.

[0006] In the on state, the recovery torque is determined;

[0007] determining a first adhesion coefficient according to the regenerative torque, and identifying a second adhesion coefficient,

[0008] Determining an energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient;

[0009] The first adhesion coefficient is an adhesion coefficient that causes the tire to lock;

[0010] The second adhesion coefficient is the current road surface adhesion coefficient.

[0011] The present application determines the energy recovery exit strategy by determining the relationship between the adhesion coefficient that causes the tire to lock and the current road adhesion coefficient.

[0012] One possible way is that in the step of determining the first adhesion coefficient according to the recovery torque,

[0013] If the driver steps on the brake pedal, the recovery torque includes: braking energy recovery torque and current actual torque of coasting energy recovery.

[0014] One possible way is that in the step of determining the first adhesion coefficient according to the recovery torque and in the step of determining the energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient:

[0015] If the first adhesion coefficient is greater than or equal to the second adhesion coefficient, the coasting energy recovery function and the braking energy recovery function are prohibited;

[0016] If the first adhesion coefficient is less than the second adhesion coefficient, the coasting energy recovery function and the braking energy recovery function are turned on.

[0017] One possible way is that in the step of determining the first adhesion coefficient according to the recovery torque,

[0018] If the driver does not step on the brake pedal, the recovery torque includes: coasting energy recovery torque.

[0019] One possible way is that in the step of determining the first adhesion coefficient according to the recovery torque and in the step of determining the energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient:

[0020] If the first adhesion coefficient is greater than or equal to the second adhesion coefficient, the coasting energy recovery function is prohibited;

[0021] If the first adhesion coefficient is less than the second adhesion coefficient, the coasting energy recovery function is turned on.

[0022] In one possible manner, the method further comprises:

[0023] In the off state, if at least one of the ABS, EBD, VDC and TCS systems is activated or disabled, the coasting energy recovery function and the braking energy recovery function are prohibited;

[0024] Otherwise, the coasting energy recovery function and the braking energy recovery function are turned on.

[0025] One possible way is that the recovery torque is determined by vehicle parameters;

[0026] The vehicle parameters include: front and rear axle loads, center of mass height, wheelbase, and rolling radius.

[0027] In a second aspect, the present application provides an energy recovery exit device, which is applied to an ESC system, wherein the ESC system is mounted on a new energy vehicle.

[0028] A first determination module: used to determine the recovery torque in the on state;

[0029] A second determination module: used for determining a first adhesion coefficient according to the recovery torque, and identifying a second adhesion coefficient;

[0030] A third determination module: used to determine an energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient;

[0031] The first adhesion coefficient is an adhesion coefficient that causes the tire to lock;

[0032] The second adhesion coefficient is the current road surface adhesion coefficient.

[0033] In a third aspect, the present application provides an electronic device, including:

[0034] A processor is used to execute computer program instructions stored in a memory, wherein when the computer program instructions are executed by the processor, the communication chip is triggered to execute the method described in the first aspect.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method as described in the first aspect.

[0036] It should be understood that the second to fourth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be described in detail.

Brief Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A flow chart of an energy recovery exit method provided in an embodiment of the present application;

[0039] Figure 2 A flow chart of an energy recovery exit strategy is shown as an exemplary embodiment of the present application;

[0040] Figure 3 A flow chart of an energy recovery exit strategy is shown as another exemplary embodiment of the present application;

[0041] Figure 4 A flow chart of an energy recovery exit strategy is shown as another exemplary embodiment of the present application;

[0042] Figure 5 A structural diagram of an energy recovery and exit device provided in an embodiment of the present application;

[0043] Figure 6 A structural diagram of an electronic device provided in an embodiment of the present application;

[0044] icon:

[0045] μ1—first adhesion coefficient;

[0046] μ2—Second adhesion coefficient. [Specific implementation method]

[0047] In order to better understand the technical solution of the embodiment of the present invention, the embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0048] It should be clear that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments in the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present invention.

[0049] In the process of decelerating the vehicle, there are two ways to decelerate: 1) by releasing the accelerator, the vehicle's own resistance is used for gliding deceleration, and the gliding distance of this working condition is longer; 2) by stepping on the brakes to achieve braking. For the gliding deceleration by releasing the accelerator and the vehicle's own resistance, those skilled in the art can convert the kinetic energy of the energy recovery system into electrical energy. In this case, the recovered energy is gliding energy. For the braking by stepping on the brakes, those skilled in the art can also convert the kinetic energy of the energy recovery system into electrical energy. In this case, the recovered energy is braking energy.

[0050] In order to realize the energy recovery during coasting and braking, new energy vehicles need to have the functions of braking energy recovery and coasting energy recovery;

[0051] However, when the vehicle is recovering energy, the motor is in a power generation state. At the same time, the motor applies braking torque to the drive shaft. Since this braking torque is not controlled by the vehicle system, when the road adhesion coefficient is low, the vehicle is prone to lock, loss of control or tailspin.

[0052] Please refer to Figure 1 , Figure 1 A flow chart of an energy recovery exit method provided in an embodiment of the present application is applied to an ESC system (electronic stability control system), which is mounted on a new energy vehicle and specifically includes the following steps:

[0053] S101: In the on state, determining the recovery torque;

[0054] Specifically, in this step, the new energy vehicle is provided with an ESC OFF button. Here, when the user presses the ESC OFF button, the ESC function is turned off, otherwise, the ESC function is turned on;

[0055] S102: determining a first adhesion coefficient according to the recovery torque, and identifying a second adhesion coefficient,

[0056] Here, the first adhesion coefficient is the adhesion coefficient that causes the tire to lock, and the second adhesion coefficient is the adhesion coefficient of the current road surface;

[0057] Specifically, the first adhesion technology can be determined by vehicle parameters, which include but are not limited to: front and rear axle loads, center of mass height, wheelbase, and rolling radius of the vehicle. The second adhesion coefficient can be determined by the road surface recognition system of the new energy vehicle.

[0058] S103: determining an energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient;

[0059] Through the aforementioned steps S101 to S103, the energy recovery exit strategy can be determined according to the adhesion coefficient that causes the tire to lock and the current road adhesion coefficient, so as to prevent the vehicle from losing control or skidding when the current road adhesion coefficient is low.

[0060] Based on the above embodiments, Figure 2 An energy recovery exit strategy flow chart shown as an exemplary embodiment of the present application includes:

[0061] S201: In the on state, determining the recovery torque;

[0062] In this embodiment, when the ESC is in the on state, if the driver steps on the brake pedal, the recovery torque includes: the braking energy recovery torque and the current actual torque of the sliding energy recovery;

[0063] Furthermore, assuming that the driver steps on the brake pedal, the vehicle needs to recover both the coasting energy and the braking energy. In this scenario, the recovery torque includes: the energy recovery torque and the current coasting energy recovery actual torque, that is, the recovery torque is the sum of the braking energy recovery torque and the coasting energy recovery torque;

[0064] Furthermore, in the process of recovering braking energy, the braking energy recovery torque needs to be applied to the motor as a negative torque (braking torque). At this time, the motor reverses and is in a power generation state. The energy storage elements (including but not limited to: lithium batteries, super capacitors) of the new energy vehicle are used to store energy. For coasting energy recovery, the coasting energy recovery torque is applied to the motor as a negative torque. At this time, the motor reverses and is in a power generation state. The energy storage elements (including but not limited to: lithium batteries, super capacitors) of the new energy vehicle are used to store energy.

[0065] S202: determining a first adhesion coefficient according to the recovery torque, and identifying a second adhesion coefficient,

[0066] S202 is consistent with the aforementioned S102 and will not be described in detail here;

[0067] S203a: If the first adhesion coefficient is greater than or equal to the second adhesion coefficient (μ1 ≥ μ2), the coasting energy recovery function and the braking energy recovery function are disabled;

[0068] That is to say, in this situation, the adhesion coefficient that makes the tire lock is greater than or equal to the current road adhesion coefficient. In this case, in order to prevent the tire from locking and providing excess energy for recovery during deceleration, further speaking, in this situation, applying braking torque on the drive shaft will cause the drive wheel to lock;

[0069] Furthermore, in order to realize the coasting energy recovery function and the prohibition of the braking energy recovery function, the ESC system sends a first instruction and a second instruction to the entire vehicle, and the first instruction and the second instruction respectively control the prohibition of the coasting energy recovery function and the braking energy recovery function;

[0070] That is to say, in this situation, the adhesion coefficient that makes the tire lock is greater than or equal to the current road adhesion coefficient. In this case, in order to prevent the tire from locking and providing excess energy for recovery during deceleration, further speaking, in this situation, applying braking torque on a single axle will cause the drive wheel to lock;

[0071] Furthermore, in order to realize the coasting energy recovery function and the prohibition of the braking energy recovery function, the ESC system sends a first instruction and a second instruction to the vehicle, and the first instruction and the second instruction respectively control the prohibition of the coasting energy recovery function and the braking energy recovery function, that is, the coasting energy recovery is exited;

[0072] S203b: If the first adhesion coefficient is less than the second adhesion coefficient (μ1<μ2), the coasting energy recovery function and the braking energy recovery function are turned on;

[0073] That is to say, in this situation, the adhesion coefficient that causes the tire to lock is less than the current road adhesion coefficient, and here, when the motor applies a braking torque on the drive shaft, the drive wheel will not lock;

[0074] Furthermore, in order to disable the coasting energy recovery function and the braking energy recovery function, the ESC system sends a third instruction and a fourth instruction to the vehicle, and the third instruction and the fourth instruction respectively control the coasting energy recovery function and the braking energy recovery function to be turned on, so that the coasting energy recovery and the braking energy recovery are available;

[0075] Furthermore, the steps from S203a to S203b can be switched in real time. In combination with the above, if the road surface recognition system recognizes that μ1<μ2 at the previous moment and recognizes that μ1≥μ2 at the next moment, it switches from S203b to S203a; if the road surface recognition system recognizes that μ1≥μ2 at the previous moment and recognizes that μ1<μ2 at the next moment, it switches from S203a to S203b;

[0076] Specifically, when the coasting energy recovery flag is given, the ESC system issues a corresponding instruction to control the coasting energy recovery to be enabled, and when the energy recovery prohibition flag is given, the ESC system issues a corresponding instruction to control the coasting energy recovery to be exited;

[0077] Based on the above embodiments, Figure 3 A flow chart of an energy recovery exit strategy is shown as another exemplary embodiment of the present application.

[0078] S301: In the on state, determining the recovery torque;

[0079] In this embodiment, when the ESC is in the on state, if the driver does not step on the brake pedal, the recovery torque includes: coasting energy recovery torque;

[0080] That is to say, if the driver does not step on the brake pedal, there is no braking energy recovery.

[0081] S302: determining a first adhesion coefficient according to the recovery torque, and identifying a second adhesion coefficient;

[0082] Wherein, the first adhesion coefficient is the adhesion coefficient that causes the tire to lock, and the second adhesion coefficient is the adhesion coefficient of the current road surface;

[0083] Please refer to S102 for details, which will not be described here in detail;

[0084] S303a: If the first adhesion coefficient is greater than or equal to the second adhesion coefficient (μ1 ≥ μ2), the coasting energy recovery function is prohibited;

[0085] That is to say, in this situation, the adhesion coefficient that makes the tire lock is greater than or equal to the current road adhesion coefficient. In this case, in order to prevent the tire from locking and providing excess energy for recovery during deceleration, further speaking, in this situation, applying braking torque on the motor shaft will cause the drive wheel to lock;

[0086] Furthermore, in order to realize the coasting energy recovery function and the prohibition of the braking energy recovery function, the ESC system sends a first instruction to the vehicle, and the first instruction is used to control the prohibition of the coasting energy recovery function;

[0087] S303b: If the first adhesion coefficient is less than the second adhesion coefficient (μ1<μ2), the coasting energy recovery function is turned on;

[0088] That is to say, in this situation, the adhesion coefficient that causes the tire to lock is less than the current road adhesion coefficient, and here, the motor applies a braking torque on the drive shaft, which will not cause the drive wheel to lock;

[0089] Furthermore, in order to realize the coasting energy recovery function and prohibit the braking energy recovery function, the ESC system sends a third instruction to the vehicle, and the third instruction controls the coasting energy recovery function to be turned on, so that the coasting energy recovery is available;

[0090] and Figure 2 The embodiment shown is consistent in that if the steps from S303a to S303b can be switched in real time, combined with the above, the road surface recognition system recognizes μ1<μ2 at the previous moment and recognizes μ1≥μ2 at the next moment, then switches from S303b to S303a; the road surface recognition system recognizes μ1≥μ2 at the previous moment and recognizes μ1<μ2 at the next moment, then switches from S303a to S303b;

[0091] pass Figure 2 as well as Figure 3 In the embodiment, an energy recovery strategy can be formulated for the vehicle according to the adhesion coefficient to prevent the vehicle from losing control or drifting when the adhesion coefficient of the current road surface is low.

[0092] Based on the above embodiment, if the ESC is in the off state, if at least any one of the ABS (Anti-locked Braking System), EBD (Electronic Braking Force Distribution System), VDC (Vehicle Dynamics Control) and TCS (Traction Control System) is in an activated or inactive state, the coasting energy recovery function and the braking energy recovery function are prohibited;

[0093] Otherwise, the coasting energy recovery function and the braking energy recovery function are turned on.

[0094] ESC is in the off state. If at the last moment, any of the ABS, EBD, VDC and TCS is in a failed or activated state, but at the next moment, no system among the ABS, EBD, VDC and TCS is in an activated or failed state, the coasting energy recovery function and the braking energy recovery function are restored from prohibited to available. If at the last moment, no system among the ABS, EBD, VDC and TCS is in an activated or failed state, but at the next moment, any system among the ABS, EBD, VDC and TCS is in a failed or activated state, the coasting energy recovery function and the braking energy recovery function are switched from prohibited to available.

[0095] Based on the above examples, please refer to Figure 4 In the energy recovery exit method described in this application, the vehicle first determines whether the ESC system is turned on through ESC OFF, that is, whether the ESC OFF is turned on. If so, the ESC system is in the off state, and if not, the ESC system is in the on state.

[0096] If the ESC system is on, it is determined whether the driver has stepped on the brake pedal, specifically by determining the brake pedal switch. If so, it is determined according to Figure 2 The embodiment shown performs the corresponding steps, namely:

[0097] If the first adhesion coefficient is greater than or equal to the second adhesion coefficient (ie, (μ1 ≥ μ2)), the coasting energy recovery function and the braking energy recovery function are prohibited, that is, the coasting energy recovery and the braking energy recovery are available;

[0098] If the first adhesion coefficient is less than the second adhesion coefficient, that is, (μ1<μ2), the coasting energy recovery function and the braking energy recovery function are turned on, that is, the coasting energy recovery and the braking energy recovery are available;

[0099] If not, follow Figure 3 The embodiment described above performs the corresponding steps, namely, if the first adhesion coefficient is greater than or equal to the second adhesion coefficient (ie (μ1 ≥ μ2)), then the coasting energy recovery function is disabled.

[0100] If the first adhesion coefficient is less than the second adhesion coefficient (ie, (μ1<μ2)), the coasting energy recovery function is turned on, that is, the coasting energy recovery is available;

[0101] If ESC is in the off state, then if at least one of the ABS, EBD, VDC and TCS systems is in the activated or failed state, the coasting energy recovery function and the braking energy recovery function are prohibited, that is, the coasting energy recovery and the braking energy recovery are exited;

[0102] On the contrary, the coasting energy recovery function and the braking energy recovery function are turned on;

[0103] Figure 5 This is a structural diagram of an energy recovery exit device provided in an embodiment of the present application, which is applied to an ESC system. The ESC system is mounted on a new energy vehicle.

[0104] A first determination module: used to determine the recovery torque in the on state;

[0105] A second determination module: used for determining a first adhesion coefficient according to the recovery torque, and identifying a second adhesion coefficient;

[0106] A third determination module: used to determine an energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient;

[0107] The first adhesion coefficient is an adhesion coefficient that causes the tire to lock;

[0108] The second adhesion coefficient is the current road surface adhesion coefficient.

[0109] Figure 5 The interactive device for intelligent dialogue provided in the illustrated embodiment can be used to implement the present application Figure 1 to Figure 4 The technical solution of the method embodiment shown, its implementation principle and technical effects can be further referred to the relevant description in the method embodiment.

[0110] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0111] Figure 6 FIG. 1 is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Figure 5 As shown, the electronic device may include at least one processor; and at least one memory connected to the processor in communication, wherein: the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the embodiments of the present invention. Figure 1 to Figure 4 The illustrated embodiment provides an energy recovery exit method.

[0112] The electronic device may be a device capable of intelligently communicating with a user, such as a cloud server, and the specific form of the electronic device is not limited in the embodiment of the present invention. It is understandable that the electronic device here is the machine mentioned in the method embodiment.

[0113] Figure 6 A block diagram of an exemplary electronic device suitable for implementing an exemplary embodiment of the present invention is shown. Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0114] like Figure 6 As shown, the electronic device is in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors 410, memory 430, and a communication bus 440 connecting different system components (including memory 430 and processing unit 410).

[0115] The communication bus 440 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0116] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0117] The memory 430 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0118] A program / utility having a set (at least one) of program modules may be stored in memory 430, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in the embodiments of the present invention.

[0119] The processor 410 executes various functional applications and data processing by running the programs stored in the memory 430, such as implementing the embodiments of the present invention. Figure 1 to Figure 3 The illustrated embodiment provides an energy recovery exit method.

[0120] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the embodiment of the present invention. Figure 1 to Figure 3 The illustrated embodiment provides an energy recovery exit method.

[0121] The above-mentioned computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ReadOnly Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (Erasable Programmable ReadOnly Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0122] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0123] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0124] The computer program code for performing the operation of the embodiments of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (Local Area Network; hereinafter referred to as: LAN) or a wide area network (Wide Area Network; hereinafter referred to as: WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0125] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0126] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In the embodiments of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in the embodiments of the present invention and the features of the different embodiments or examples, without contradiction.

[0127] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0128] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred implementation of the embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0129] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0130] It should be noted that the terminals involved in the embodiments of the present invention may include but are not limited to personal computers (Personal Computer; hereinafter referred to as: PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as: PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 players, MP4 players, etc.

[0131] In the several embodiments provided in the embodiments of the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0132] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0133] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (Processor) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk and other media that can store program codes.

[0134] The above description is only a preferred embodiment of the embodiment of the present invention and is not intended to limit the embodiment of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiment of the present invention should be included in the scope of protection of the embodiment of the present invention.

Claims

1. An energy recovery exit method, characterized in that: Applied to the ESC system, the ESC system is mounted on a new energy vehicle, and includes the following steps: In the on state, the recovery torque is determined; determining a first adhesion coefficient according to the regenerative torque, and identifying a second adhesion coefficient, Determining an energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient; The first adhesion coefficient is an adhesion coefficient that causes the tire to lock; The second adhesion coefficient is the current road surface adhesion coefficient.

2. The method according to claim 1, characterized in that In the step of determining the first adhesion coefficient according to the recovery torque, If the driver steps on the brake pedal, the recovery torque includes: braking energy recovery torque and current actual torque of coasting energy recovery.

3. The method according to claim 2, characterized in that In the step of determining the first adhesion coefficient according to the recovery torque, in the step of determining the energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient: If the first adhesion coefficient is greater than or equal to the second adhesion coefficient, the coasting energy recovery function and the braking energy recovery function are prohibited; If the first adhesion coefficient is less than the second adhesion coefficient, the coasting energy recovery function and the braking energy recovery function are turned on.

4. The method according to claim 1, characterized in that: In the step of determining the first adhesion coefficient according to the recovery torque, If the driver does not step on the brake pedal, the recovery torque includes: coasting energy recovery torque.

5. The method according to claim 4, characterized in that In the step of determining the first adhesion coefficient according to the recovery torque, in the step of determining the energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient: If the first adhesion coefficient is greater than or equal to the second adhesion coefficient, the coasting energy recovery function is prohibited; If the first adhesion coefficient is less than the second adhesion coefficient, the coasting energy recovery function is turned on.

6. The method according to claim 1, characterized in that The method further comprises: In the off state, if at least one of the ABS, EBD, VDC and TCS systems is activated or disabled, the coasting energy recovery function and the braking energy recovery function are prohibited; Otherwise, the coasting energy recovery function and the braking energy recovery function are turned on.

7. The method according to any one of claims 1 to 5, characterized in that: The recovery torque is determined by vehicle parameters; The vehicle parameters include: front and rear axle loads, center of mass height, wheelbase, and rolling radius.

8. An energy recovery exit device, characterized in that: Applied to ESC system, the ESC system is installed in new energy vehicles, A first determination module: used to determine the recovery torque in the on state; A second determination module: used for determining a first adhesion coefficient according to the recovery torque, and identifying a second adhesion coefficient; A third determination module: used to determine an energy recovery exit strategy according to the first adhesion coefficient and the second adhesion coefficient; The first adhesion coefficient is an adhesion coefficient that causes the tire to lock; The second adhesion coefficient is the current road surface adhesion coefficient.

9. An electronic device, characterized in that: include: at least one processor; and at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 6 by calling the program instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 8.

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