Sliding energy recovery control method and system, vehicle and readable storage medium

Abstract

The invention discloses a sliding energy recovery control method and system, a vehicle and a readable storage medium, and belongs to the technical field of automobiles. The method comprises the steps that preset parameters and effective acceleration of a target vehicle are obtained; according to preset parameters and the effective acceleration, estimation processing is carried out through a vehicle mass estimation model; judging whether at least one effective mass exists in a preset duration or not, and if the at least one effective mass exists in the preset duration, calculating a mass estimation value of the target vehicle; based on the mass estimation value and a preset target deceleration, determining a feedback torque of the driving motor; determining the maximum feedback torque allowed by the battery according to the battery parameters; the maximum feedback torque allowed by the motor is determined according to the parameters of the driving motor, the final feedback torque of the motor is determined according to the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor, and sliding energy recovery is carried out, and the purpose that the target vehicle has relatively consistent deceleration under different loads can be achieved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and specifically relates to a coasting energy recovery control method, system, vehicle and readable storage medium. Background Art

[0002] In order to improve the driving range, new energy vehicles usually have a coasting energy recovery system. Coasting energy recovery means that when the driver releases the accelerator pedal at a certain speed and does not step on the brake pedal during the driving of a hybrid or pure electric vehicle, the motor outputs negative torque to act on the brake wheel, and the motor enters the power generation mode driven by the wheel, while providing longitudinal deceleration to the vehicle. This process converts the kinetic energy of the vehicle into electrical energy, which can greatly improve the energy utilization rate of the vehicle and optimize the energy consumption of the vehicle.

[0003] Usually, the vehicle's coasting energy recovery is controlled based on the calibrated preset motor feedback torque, and cannot be dynamically adjusted as the vehicle load changes. As a result, the vehicle will produce different decelerations under the same coasting deceleration condition due to changes in the vehicle load.

[0004] The user's perception of coasting energy recovery is reflected in the size of the energy recovery. For commercial vehicles, the test quality of empty and fully loaded differs by more than twice. For users, the perceived deceleration differs by more than twice, which is not conducive to the user's prediction of vehicle driving control, easily leads to safety accidents, poor daily driving experience and low energy utilization efficiency. Summary of the invention

[0005] The purpose of this application is to provide a coasting energy recovery control method, system, vehicle and readable storage medium, which can solve the technical problem that the energy recovery intensity can only use the calibrated preset motor feedback torque parameters and cannot be dynamically adjusted with the change of vehicle load, resulting in different deceleration rates due to the change of vehicle load under the same coasting deceleration condition.

[0006] In order to solve the above technical problems, this application is implemented as follows: In a first aspect, the present application provides a coasting energy recovery control method, the method comprising: Obtain preset parameters and effective acceleration of the target vehicle; According to preset parameters and effective acceleration, the vehicle mass estimation model is used to perform estimation processing; Determining whether there is at least one valid mass within a preset time length, and if it is determined that at least one valid mass exists within the preset time length, calculating a mass estimate of the target vehicle; Determine the feedback torque of the drive motor based on the mass estimation value and the preset target deceleration; Obtain battery parameters, and determine the maximum regenerative torque allowed by the battery according to the battery parameters; Obtain the drive motor parameters, and determine the maximum feedback torque allowed by the motor according to the drive motor parameters; Determine the final feedback torque of the motor according to the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor; According to the final feedback torque of the motor, the motor is controlled to perform coasting energy recovery.

[0007] Furthermore, before the step of obtaining preset parameters and effective acceleration of the target vehicle, it includes: in response to a power-on signal of the target vehicle, presetting an initial mass parameter to a half-load mass, the initial mass parameter being used to calculate an initial drive motor feedback torque; The calculation formula of the initial drive motor feedback torque is as follows: , Among them, Ttq is the initial drive motor torque, M1 is the initial mass parameter, ig is the transmission ratio, i0 is the main reducer ratio, ηT is the mechanical efficiency of the transmission system, r is the wheel radius, CD is the air resistance coefficient, A is the frontal area, u is the driving speed, f is the rolling resistance coefficient, g is the acceleration of gravity, j is the rotational inertia of the transmission system, w1 is the angular acceleration of the transmission system, and a1 is the target deceleration.

[0008] Furthermore, the step of obtaining preset parameters and effective acceleration of the target vehicle specifically includes: obtaining preset parameters of the target vehicle, the preset parameters at least including the rotational inertia of the transmission system and the wheel radius; collecting acceleration data of the target vehicle through a vehicle longitudinal acceleration acquisition device; filtering the acceleration data through a low-pass filter to filter out acceleration noise and obtain pure acceleration; and taking the pure acceleration that falls within a preset effective range as the effective acceleration.

[0009] Further, the step of performing estimation processing by using a vehicle mass estimation model according to preset parameters and effective acceleration specifically includes: determining a driving equation mass parameter according to the effective acceleration and preset parameters; estimating the mass of the target vehicle by using a vehicle mass estimation model according to the driving equation mass parameter; The calculation formula of the driving equation quality parameter is as follows: Among them, M is the quality parameter of the driving equation, T tq is the initial driving motor torque, i g is the transmission ratio, i 0 is the main reducer transmission ratio, η T is the mechanical efficiency of the transmission system, r is the wheel radius, C Dis the air resistance coefficient, A is the frontal area, u is the vehicle speed, f is the rolling resistance coefficient, i is the longitudinal slope, g is the acceleration of gravity, j is the moment of inertia of the transmission system, w is the angular acceleration of the transmission system, and a is the effective acceleration.

[0010] Furthermore, after the step of determining the mass of the target vehicle through a vehicle mass estimation model according to the mass parameters of the driving equation, it also includes: when the mass of the target vehicle is not greater than a preset maximum calculated mass and not less than a preset minimum calculated mass, confirming that the mass of the target vehicle is an effective mass.

[0011] Further, it is determined whether there is at least one valid mass within the preset time length, and if it is determined that there is at least one valid mass within the preset time length, the step of calculating the mass estimation value of the target vehicle specifically includes: determining whether there is at least one valid mass within the preset time length, and if it is determined that there is at least one valid mass within the preset time length, calculating the average value of the valid masses within the preset time length, and taking the average value as the mass estimation value of the target vehicle; if it is determined that there is not at least one valid mass within the preset time length, obtaining the mass estimation value within the previous preset time length as the mass estimation value within the preset time length.

[0012] Furthermore, the step of determining the final feedback torque of the motor according to the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor specifically includes: comparing the absolute values ​​of the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor respectively; selecting the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor with the smallest absolute value as the final feedback torque of the motor.

[0013] In a second aspect, the present application provides a coasting energy recovery control system, which mainly includes: A data acquisition module, used to obtain preset parameters and effective acceleration of the target vehicle; A mass estimation module, used for performing estimation processing through a vehicle mass estimation model according to preset parameters and effective acceleration; A determination module, used to determine whether there is at least one valid mass within a preset time length, and if it is determined that there is at least one valid mass within the preset time length, calculate the mass estimation value of the target vehicle; A drive motor feedback torque determination module, used to determine the drive motor feedback torque based on the mass estimation value and the preset target deceleration; A maximum regenerative torque determination module allowed by the battery, used to obtain battery parameters and determine the maximum regenerative torque allowed by the battery according to the battery parameters; The maximum feedback torque determination module allowed by the motor is used to obtain the drive motor parameters and determine the maximum feedback torque allowed by the motor according to the drive motor parameters; A motor final feedback torque determination module, used to determine the motor final feedback torque according to the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor; The motor control module is used to control the motor to perform coasting energy recovery according to the final feedback torque of the motor.

[0014] In a third aspect, the present application provides a vehicle, characterized in that it includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, and when the program or instruction is executed by the processor, the steps of the gliding energy recovery control method of the first aspect are implemented.

[0015] In a fourth aspect, the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method as described in the first aspect are implemented.

[0016] In the present application, firstly, the preset parameters and effective acceleration of the target vehicle are obtained, and estimation processing is performed through the vehicle mass estimation model according to the preset parameters and the effective acceleration; then, it is determined whether there is at least one effective mass within the preset time length, and if it is determined that there is at least one effective mass within the preset time length, the mass estimation value of the target vehicle is calculated; then, based on the mass estimation value and the preset target deceleration, the feedback torque of the drive motor is determined; the battery parameters are obtained, and the maximum feedback torque allowed by the battery is determined according to the battery parameters; the drive motor parameters are obtained, and the maximum feedback torque allowed by the motor is determined according to the drive motor parameters; then, according to the feedback torque of the drive motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor, the final feedback torque of the motor is determined; finally, according to the final feedback torque of the motor, the motor is controlled to perform gliding energy recovery. That is, the vehicle mass estimation model is used to perform estimation processing, the preset target deceleration is calibrated, the estimated vehicle mass is used to calculate the motor feedback torque and the motor feedback torque is dynamically controlled, so as to achieve a nearly consistent deceleration of the whole vehicle from no-load to full-load. This can solve the technical problem that the energy recovery intensity can only use the calibrated preset motor feedback torque parameters and cannot be dynamically adjusted with the change of vehicle load, resulting in different decelerations due to the change of vehicle load under the same coasting deceleration condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a coasting energy recovery control method provided in some embodiments of the present application.

[0018] Figure 2 It is a structural schematic diagram of a coasting energy recovery control system provided in some embodiments of the present application.

[0019] Figure 3 It is a structural schematic diagram of a vehicle provided in some embodiments of the present application. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally represents that the objects associated with each other are in an "or" relationship.

[0022] The gliding energy recovery control method provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0023] It is worth noting that the coasting energy recovery control method disclosed in this application is to perform estimation processing through a vehicle mass estimation model, calibrate a preset target deceleration, use the estimated vehicle mass for motor feedback torque calculation and dynamically control the motor feedback torque, thereby achieving a nearly consistent deceleration of the entire vehicle from no load to full load. This solves the problem that under the same coasting deceleration condition, different decelerations are generated due to changes in vehicle load, which is not conducive to the user's prediction of vehicle driving control, resulting in easy safety accidents, poor daily driving experience and low energy utilization efficiency.

[0024] like Figure 1 As shown, the main flow chart of some embodiments of the coasting energy recovery control method provided by the embodiment of the present application, the coasting energy recovery control method includes the following steps S101 to S108, wherein: S101, obtaining preset parameters and effective acceleration of the target vehicle.

[0025] In some embodiments of the present application, before obtaining the preset parameters and effective acceleration step of the target vehicle, in response to a power-on signal of the target vehicle, an initial mass parameter is preset to a half-load mass, and the initial mass parameter is used to calculate the initial drive motor feedback torque.

[0026] The calculation formula of the initial drive motor feedback torque is as follows: , Among them, Ttq is the initial drive motor torque, M1 is the initial mass parameter, ig is the transmission ratio, i0 is the main reducer ratio, ηT is the mechanical efficiency of the transmission system, r is the wheel radius, CD is the air resistance coefficient, A is the frontal area, u is the driving speed, f is the rolling resistance coefficient, g is the acceleration of gravity, j is the rotational inertia of the transmission system, w1 is the angular acceleration of the transmission system, and a1 is the target deceleration.

[0027] In this embodiment, the initial mass parameter is used to calculate the initial drive motor feedback torque after the target vehicle is started and before the effective mass is calculated to ensure the normal operation of the target vehicle, and the initial mass parameter is set to the half-load mass.

[0028] It is worth mentioning that the design full-load mass parameters will be defined during the vehicle development process. This mass is also part of the vehicle's announced parameters. The half-load mass is half of the full-load mass.

[0029] In some embodiments of the present application, preset parameters of the target vehicle are obtained, and the preset parameters at least include the moment of inertia of the transmission system and the wheel radius; In this embodiment, the preset parameters may also be the transmission ratio, the final reducer ratio, the mechanical efficiency of the transmission system, the air resistance coefficient, the frontal area, the vehicle speed, the rolling resistance coefficient, the longitudinal slope and the angular acceleration of the transmission system, so as to ensure that the vehicle mass estimation model can operate in the best state under specific conditions.

[0030] In some embodiments of the present application, acceleration data of a target vehicle is collected by a vehicle longitudinal acceleration collection device; the acceleration data is filtered by a low-pass filter to remove acceleration noise and obtain pure acceleration; and the pure acceleration falling within a preset effective interval is used as the effective acceleration.

[0031] In this embodiment, the vehicle longitudinal acceleration acquisition device is a device specifically used to acquire acceleration data of a target vehicle. When the vehicle is traveling, a three-axis sensor built into the vehicle longitudinal acceleration acquisition device senses the acceleration changes of the vehicle in real time and acquires the data.

[0032] A low-pass filter is a filter that allows low-frequency signals to pass through while suppressing or attenuating high-frequency signals. By filtering the acceleration data with a low-pass filter, these high-frequency noise components can be effectively filtered out, making the acceleration data smoother and more stable. At the same time, the low-pass filter can also retain the low-frequency components in the acceleration data. These low-frequency components usually reflect the actual acceleration changes of the vehicle and are an important basis for subsequent data analysis and processing.

[0033] Selecting effective acceleration means selecting pure acceleration that falls within the effective range. The effective range is obtained based on statistical analysis of actual vehicle measurements, with the vehicle speed-acceleration boundary map (hereinafter referred to as the vehicle speed-acceleration boundary Map) as the basis for calculating the effective range. The vehicle speed-acceleration boundary Map can be regarded as a two-dimensional graph or table, in which the horizontal axis represents the vehicle speed (usually in km / h or m / s), and the vertical axis represents the acceleration (usually in m / s²). The Map defines the maximum or allowable acceleration range that the vehicle can achieve at different speeds. According to the vehicle speed-acceleration boundary Map, the pure acceleration within the acceleration range, i.e. the effective range, is selected as the effective acceleration.

[0034] It is worth noting that appropriate mathematical methods and algorithms such as numerical differentiation methods or differential methods can also be used when collecting acceleration. By differentiating the vehicle speed signal to obtain acceleration data to replace the acceleration data collected by the acceleration sensor, the cost and complexity that may be caused by directly installing the acceleration sensor can be avoided.

[0035] S102, performing estimation processing through a vehicle mass estimation model according to preset parameters and effective acceleration.

[0036] In some embodiments of the present application, a driving equation mass parameter is determined according to the effective acceleration and the preset parameter; and the mass of the target vehicle is estimated by a vehicle mass estimation model according to the driving equation mass parameter; The calculation formula of the driving equation quality parameter is as follows: Among them, M is the quality parameter of the driving equation, T tq is the driving motor torque, i g is the transmission ratio, i 0 is the main reducer transmission ratio, η T is the mechanical efficiency of the transmission system, r is the wheel radius, C D is the air resistance coefficient, A is the frontal area, u is the vehicle speed, f is the rolling resistance coefficient, i is the longitudinal slope, g is the acceleration of gravity, j is the moment of inertia of the transmission system, w is the angular acceleration of the transmission system, and a is the effective acceleration.

[0037] In this embodiment, i is obtained by calculation, and the calculation formula is as follows: i= (a – δv / δt)*10, Where v is the vehicle speed in m / s.

[0038] S103, determining whether there is at least one valid mass within a preset time period, and if it is determined that there is at least one valid mass within the preset time period, calculating a mass estimation value of the target vehicle.

[0039] In some embodiments of the present application, it is first necessary to confirm whether the mass of the target vehicle estimated by the vehicle mass estimation model is an effective mass. The criterion for determining the effective mass is that the estimated mass of the target vehicle is not greater than the preset maximum calculated mass and not less than the preset minimum calculated mass.

[0040] In this embodiment, the minimum calculated mass is the curb mass, which is the weight of the vehicle in an unloaded state, that is, the mass of the vehicle when there are no passengers or cargo. The vehicle's design gross weight is the sum of the curb mass and the design load capacity, and the maximum calculated mass is 1.5 times the vehicle's design gross weight.

[0041] In some embodiments of the present application, it is determined whether there is at least one valid mass within the preset time length. If it is determined that there is at least one valid mass within the preset time length, the average value of the effective mass within the preset time length is calculated, and the average value is used as the mass estimation value of the target vehicle; if it is determined that there is not at least one valid mass within the preset time length, the mass estimation value within the previous preset time length is obtained as the mass estimation value within the preset time length.

[0042] In this embodiment, the preset time length may be 5 minutes. When it is determined that at least one effective mass exists within 5 minutes, the average value of the effective mass within 5 minutes is calculated, and the average value is output as the mass estimation value of the target vehicle to a controller area network (CAN) bus.

[0043] When the vehicle has obtained the mass estimation value and is operating normally, if there is no valid mass within 5 minutes, the vehicle controller obtains the mass estimation value last output to the CAN bus as the mass estimation value within this 5 minutes.

[0044] S104, determining a feedback torque of a driving motor based on the mass estimation value and a preset target deceleration; In some embodiments of the present application, the vehicle controller device obtains a mass estimation value from the CAN bus, and calculates the feedback torque of the drive motor through the mass estimation value and a preset target deceleration.

[0045] In this embodiment, the CAN bus serves as the main channel for communication between the electronic control units (ECUs) inside the vehicle, and can efficiently transmit various sensor data and command information. The vehicle mass estimation model inputs the mass estimation value into the CAN bus. After obtaining the mass estimation value, the vehicle controller further calculates the required drive motor feedback torque according to the preset target deceleration. The driver's perception is characterized in the form of acceleration. In order to make the driver's body feel consistent under different loads, unlike the prior art that uses the motor or wheel-side feedback torque as the basic control target, this application uses the preset target deceleration as the basic control target for sliding energy recovery.

[0046] S105, obtaining battery parameters, and determining the maximum regenerative torque allowed by the battery according to the battery parameters; In some embodiments of the present application, the maximum charging power of the battery is obtained from the CAN bus, and the current vehicle speed is calculated, and the maximum regenerative torque allowed by the battery is determined according to the maximum charging power of the battery and the current vehicle speed.

[0047] In this embodiment, the battery parameter is the maximum charging power of the battery. The maximum charging power allowed by the battery is obtained from the CAN bus of the vehicle, and the current vehicle speed is obtained. The maximum regenerative torque allowed by the battery is calculated based on the maximum charging power of the battery and the current vehicle speed.

[0048] It is worth noting that this data is usually provided by the battery management system (BMS), which monitors the status of the battery pack in real time, including key parameters such as battery voltage, current, temperature, and remaining power, and calculates the maximum charging power that the battery can withstand under current conditions. The vehicle controller also needs to calculate and obtain the current vehicle speed information in real time. This information usually comes from the vehicle's speed sensor, which can accurately convert the vehicle's driving speed into an electrical signal for analysis and processing by the vehicle controller, and calculate the maximum feedback torque allowed by the battery through the battery's maximum charging power and the current vehicle speed.

[0049] S106, obtaining drive motor parameters, and determining the maximum feedback torque allowed by the motor according to the drive motor parameters; In some embodiments of the present application, the maximum power generation allowed by the drive motor is obtained from the CAN bus, and the current vehicle speed is calculated, and the maximum feedback torque allowed by the motor is determined based on the maximum power generation of the drive motor and the current vehicle speed.

[0050] In this embodiment, the drive motor parameter is the maximum power generation of the drive motor. The maximum power generation allowed by the drive motor is obtained from the CAN bus, and the current vehicle speed is obtained. The maximum feedback torque allowed by the motor is calculated based on the maximum power generation of the drive motor and the current vehicle speed.

[0051] It is worth mentioning that this data is usually provided by the motor controller (Motor Control Unit, hereinafter referred to as MCU), which is a key component for controlling the operation of the motor. The drive motor parameters can also be the maximum power generation current, maximum power generation voltage and other parameters of the drive motor, which can be used to determine the maximum feedback torque allowed by the motor.

[0052] S107, determining a final feedback torque of the motor according to the feedback torque of the driving motor, the maximum feedback torque allowed by the battery, and the maximum feedback torque allowed by the motor.

[0053] In some embodiments of the present application, the absolute values ​​of the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor are compared respectively; the one with the smallest absolute value among the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor is selected as the final feedback torque of the motor.

[0054] In this embodiment, the drive motor feedback torque calculated based on the mass estimation value and the preset target deceleration also needs to be compared with the motor maximum feedback constraint, that is, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor. The absolute value can reflect the magnitude of the value without considering its positive or negative, which can determine the magnitude of the feedback torque. The smallest absolute value among the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor is selected as the final motor feedback torque.

[0055] S108, controlling the motor to perform coasting energy recovery according to the final feedback torque of the motor.

[0056] In some embodiments of the present application, based on the determined final feedback torque of the motor, the motor controller adjusts the torque and speed of the motor according to a preset control strategy and algorithm, thereby performing coasting energy recovery.

[0057] In an embodiment of the present application, first, preset parameters and effective acceleration of the target vehicle are obtained, and estimation processing is performed through a vehicle mass estimation model based on the preset parameters and effective acceleration; then, it is determined whether there is at least one effective mass within the preset time length, and if it is determined that at least one effective mass exists within the preset time length, the mass estimation value of the target vehicle is calculated; then, based on the mass estimation value and the preset target deceleration, the feedback torque of the drive motor is determined; the battery parameters are obtained, and the maximum feedback torque allowed by the battery is determined according to the battery parameters; the drive motor parameters are obtained, and the maximum feedback torque allowed by the motor is determined according to the drive motor parameters; then, based on the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor, the final feedback torque of the motor is determined; finally, based on the final feedback torque of the motor, the motor is controlled to perform gliding energy recovery. That is, the vehicle mass estimation model is used to perform estimation processing, the preset target deceleration is calibrated, the estimated vehicle mass is used to calculate the motor feedback torque and the motor feedback torque is dynamically controlled, so as to achieve a nearly consistent deceleration of the whole vehicle from no-load to full-load. This can solve the technical problem that the energy recovery intensity can only use the calibrated preset motor feedback torque parameters and cannot be dynamically adjusted with the change of vehicle load, resulting in different decelerations due to the change of vehicle load under the same coasting deceleration condition.

[0058] It should be noted that the coasting energy recovery control system provided in the embodiment of the present application may be executed by the coasting energy recovery control system, or by a control module in the system for executing the coasting energy recovery control method. In the embodiment of the present application, the coasting energy recovery control system executing the coasting energy recovery control method is taken as an example to illustrate the coasting energy recovery control method provided in the embodiment of the present application.

[0059] The coasting energy recovery control system in the embodiment of the present application may be a system, or a component, integrated circuit, or chip in a terminal. The system may be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device may be an in-vehicle electronic device, a wearable device, etc., and the non-mobile electronic device may be a server, a network attached storage (NAS), a personal computer (PC), etc., which is not specifically limited in the embodiment of the present application.

[0060] The coasting energy recovery control system provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes implemented in the method embodiment will not be described again here.

[0061] See also Figure 2 , Figure 2 FIG. 1 is a schematic diagram of the structure of a coasting energy recovery control system provided by an embodiment of the second aspect of the present invention, the system comprising: The data acquisition module 201 is used to acquire the preset parameters and effective acceleration of the target vehicle; In this embodiment, the data acquisition module 201 is specifically used to obtain preset parameters of the target vehicle, including at least the rotational inertia of the transmission system, the wheel radius, and the acceleration data of the target vehicle through the vehicle longitudinal acceleration acquisition device; the acceleration data is filtered through a low-pass filter to filter out the acceleration noise, and the pure acceleration is obtained and the pure acceleration falling within the preset effective range is used as the effective acceleration.

[0062] The mass estimation module 202 is used to perform estimation processing through a vehicle mass estimation model according to preset parameters and effective acceleration; In this embodiment, the mass estimation module 202 is specifically used to determine the driving equation mass parameter according to the effective acceleration and the preset parameters; and estimate the mass of the target vehicle through the vehicle mass estimation model according to the driving equation mass parameter.

[0063] A determination module 203 is used to determine whether there is at least one valid mass within a preset time length, and if it is determined that there is at least one valid mass within the preset time length, calculate the mass estimation value of the target vehicle; In this embodiment, the judgment module 203 is specifically used to judge whether there is at least one valid mass within the preset time length. If it is determined that there is at least one valid mass within the preset time length, the average value of the effective mass within the preset time length is calculated, and the average value is used as the mass estimation value of the target vehicle; if it is determined that there is not at least one valid mass within the preset time length, the mass estimation value within the previous preset time length is obtained as the mass estimation value within the preset time length.

[0064] A drive motor feedback torque determination module 204, configured to determine the drive motor feedback torque based on the mass estimation value and a preset target deceleration; In this embodiment, the driving motor feedback torque determination module 204 is specifically configured to further calculate the required driving motor feedback torque according to a preset target deceleration after obtaining the mass estimation value.

[0065] A maximum regenerative torque determination module 205 allowed by the battery is used to obtain battery parameters and determine the maximum regenerative torque allowed by the battery according to the battery parameters; In this embodiment, the maximum regenerative torque determination module 205 allowed by the battery is specifically used to obtain the maximum charging power of the battery from the CAN bus, calculate the current vehicle speed, and determine the maximum regenerative torque allowed by the battery according to the maximum charging power of the battery and the current vehicle speed.

[0066] The maximum feedback torque determination module 206 allowed by the motor is used to obtain the drive motor parameters and determine the maximum feedback torque allowed by the motor according to the drive motor parameters; In this embodiment, the maximum regenerative torque determination module 206 allowed by the motor is specifically used to obtain the maximum power generation allowed by the drive motor from the CAN bus, calculate the current vehicle speed, and determine the maximum regenerative torque allowed by the motor according to the maximum power generation of the drive motor and the current vehicle speed.

[0067] The motor final feedback torque determination module 207 is used to determine the motor final feedback torque according to the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor; In this embodiment, the motor final feedback torque determination module 207 is specifically used to compare the absolute values ​​of the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor, respectively; and select the one with the smallest absolute value among the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor as the motor final feedback torque.

[0068] The motor control module 208 is used to control the motor to perform coasting energy recovery according to the final feedback torque of the motor.

[0069] In an embodiment of the present application, first, preset parameters and effective acceleration of the target vehicle are obtained, and estimation processing is performed through a vehicle mass estimation model based on the preset parameters and effective acceleration; then, it is determined whether there is at least one effective mass within the preset time length, and if it is determined that at least one effective mass exists within the preset time length, the mass estimation value of the target vehicle is calculated; then, based on the mass estimation value and the preset target deceleration, the feedback torque of the drive motor is determined; the battery parameters are obtained, and the maximum feedback torque allowed by the battery is determined according to the battery parameters; the drive motor parameters are obtained, and the maximum feedback torque allowed by the motor is determined according to the drive motor parameters; then, based on the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor, the final feedback torque of the motor is determined; finally, based on the final feedback torque of the motor, the motor is controlled to perform gliding energy recovery. That is, the vehicle mass estimation model is used to perform estimation processing, the preset target deceleration is calibrated, the estimated vehicle mass is used to calculate the motor feedback torque and the motor feedback torque is dynamically controlled, so as to achieve a nearly consistent deceleration of the whole vehicle from no-load to full-load. This can solve the technical problem that the energy recovery intensity can only use the calibrated preset motor feedback torque parameters and cannot be dynamically adjusted with the change of vehicle load, resulting in different decelerations due to the change of vehicle load under the same coasting deceleration condition.

[0070] The third aspect of the present application also provides a vehicle, such as Figure 3As shown, the electronic device includes a processor 301, a memory 302, and a program or instruction 303 stored in the memory and executable on the processor. When the program or instruction is executed by the processor, each process of the above-mentioned gliding energy recovery control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0071] The embodiment of the fourth aspect of the present application also provides a readable storage medium, on which programs or instructions are stored. When the programs or instructions are executed by the processor, the various steps of the above-mentioned gliding energy recovery control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

[0072] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0073] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0074] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A coasting energy recovery control method, characterized in that: The method comprises: Obtain preset parameters and effective acceleration of the target vehicle; According to the preset parameters and the effective acceleration, an estimation process is performed using a vehicle mass estimation model; Determining whether there is at least one valid mass within a preset time length, and if it is determined that at least one valid mass exists within the preset time length, calculating a mass estimation value of the target vehicle; Determining a feedback torque of a driving motor based on the mass estimation value and a preset target deceleration; Acquiring battery parameters, and determining a maximum regenerative torque allowed by the battery according to the battery parameters; Acquire drive motor parameters, and determine the maximum feedback torque allowed by the motor according to the drive motor parameters; Determining a final feedback torque of the motor according to the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor; The motor is controlled to perform coasting energy recovery according to the final feedback torque of the motor.

2. The coasting energy recovery control method according to claim 1, characterized in that: Before the step of obtaining the preset parameters and effective acceleration of the target vehicle, the method includes: In response to a power-on signal of the target vehicle, presetting an initial mass parameter as a half-load mass, wherein the initial mass parameter is used to calculate an initial drive motor feedback torque; The calculation formula of the initial drive motor feedback torque is as follows: ， Among them, Ttq is the initial drive motor torque, M1 is the initial mass parameter, ig is the transmission ratio, i0 is the main reducer ratio, ηT is the mechanical efficiency of the transmission system, r is the wheel radius, CD is the air resistance coefficient, A is the frontal area, u is the driving speed, f is the rolling resistance coefficient, g is the acceleration of gravity, j is the rotational inertia of the transmission system, w1 is the angular acceleration of the transmission system, and a1 is the target deceleration.

3. The coasting energy recovery control method according to claim 1, characterized in that: The step of obtaining the preset parameters and effective acceleration of the target vehicle specifically includes: Acquire preset parameters of the target vehicle, wherein the preset parameters at least include the moment of inertia of the transmission system and the wheel radius; Collecting acceleration data of the target vehicle through a vehicle longitudinal acceleration collection device; The acceleration data is filtered by a low-pass filter to remove acceleration noise and obtain pure acceleration; The pure acceleration falling within the preset effective range is taken as the effective acceleration.

4. The coasting energy recovery control method according to claim 1, characterized in that: The step of performing estimation processing by using a vehicle mass estimation model according to the preset parameters and the effective acceleration specifically includes: Determine the quality parameters of the driving equation according to the effective acceleration and the preset parameters; According to the mass parameter of the driving equation, the mass of the target vehicle is estimated by a vehicle mass estimation model; The calculation formula of the driving equation quality parameter is as follows: Among them, M is the quality parameter of the driving equation, T tq is the driving motor torque, i g is the transmission ratio of the transmission, i0 is the main reducer ratio, η T is the mechanical efficiency of the transmission system, r is the wheel radius, C D is the air resistance coefficient, A is the frontal area, u is the vehicle speed, f is the rolling resistance coefficient, i is the longitudinal slope, g is the acceleration of gravity, j is the moment of inertia of the transmission system, w is the angular acceleration of the transmission system, and a is the effective acceleration.

5. The coasting energy recovery control method according to claim 4, characterized in that: After the step of determining the mass of the target vehicle by a vehicle mass estimation model according to the mass parameter of the driving equation, the method further includes: When the mass of the target vehicle is not greater than a preset maximum calculated mass and not less than a preset minimum calculated mass, the mass of the target vehicle is confirmed to be an effective mass.

6. The coasting energy recovery control method according to claim 1, characterized in that: The step of determining whether there is at least one valid mass within a preset time period, and if it is determined that at least one valid mass exists within the preset time period, calculating the mass estimation value of the target vehicle specifically includes: Determine whether there is at least one valid mass within a preset time length, and if it is determined that there is at least one valid mass within the preset time length, calculate an average value of the valid masses within the preset time length, and use the average value as the mass estimation value of the target vehicle; If it is determined that at least one valid quality does not exist within the preset time length, the quality estimation value within the previous preset time length is obtained as the quality estimation value within the preset time length.

7. The coasting energy recovery control method according to claim 1, characterized in that: The step of determining the final feedback torque of the motor according to the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor specifically includes: The absolute values ​​of the driving motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor are compared respectively; The one with the smallest absolute value among the feedback torque of the driving motor, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor is selected as the final feedback torque of the motor.

8. A coasting energy recovery control system, characterized in that: The system comprises: A data acquisition module, used to obtain preset parameters and effective acceleration of the target vehicle; A mass estimation module, used for performing estimation processing through a vehicle mass estimation model according to the preset parameters and the effective acceleration; A determination module, used to determine whether there is at least one valid mass within a preset time length, and if it is determined that there is at least one valid mass within the preset time length, calculate the mass estimation value of the target vehicle; A drive motor feedback torque determination module, used to determine the drive motor feedback torque based on the mass estimation value and a preset target deceleration; A maximum regenerative torque determination module allowed by the battery, used to obtain battery parameters and determine the maximum regenerative torque allowed by the battery according to the battery parameters; A maximum feedback torque determination module allowed by the motor, used to obtain drive motor parameters and determine the maximum feedback torque allowed by the motor according to the drive motor parameters; a motor final feedback torque determination module, used to determine the motor final feedback torque according to the drive motor feedback torque, the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor; The motor control module is used to control the motor to perform coasting energy recovery according to the final feedback torque of the motor.

9. A vehicle, characterized in that: It comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the gliding energy recovery control method as described in claims 1-7.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the coasting energy recovery control method as described in claims 1-7 are implemented.

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