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

Abstract

The application discloses a kind of coasting energy recovery control method, system, vehicle and readable storage medium, belong to automobile technical field, method includes obtaining the preset parameter and effective acceleration of target vehicle;According to preset parameter and effective acceleration, it is estimated by vehicle mass estimation model and is handled;It is judged whether there is at least one effective mass in preset time, if determining that there is at least one effective mass in preset time, the mass estimation value of target vehicle is calculated;Determine drive motor feedback torque based on mass estimation value and preset target deceleration;According to battery parameter, determine the maximum feedback torque allowed by battery;According to drive motor parameter, determine the maximum feedback torque allowed by motor, according to drive motor feedback torque, the maximum feedback torque allowed by battery and the maximum feedback torque allowed by motor, determine motor final feedback torque to carry out coasting energy recovery, the application can realize that target vehicle has relatively consistent deceleration under different loads.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobiles, and particularly relates to a coasting energy recovery control method, system, vehicle and readable storage medium. BACKGROUND

[0002] In order to improve the cruising range, new energy vehicles usually have a coasting energy recovery system. Coasting energy recovery refers to that, in the process of driving, when the driver releases the accelerator pedal at a certain vehicle speed and does not step on the brake pedal, under the premise that the power battery has a large enough charging power and the driving motor has a large enough power generation power, the motor outputs a negative torque to the brake wheel, and the motor is driven into the power generation mode by the wheel, and a longitudinal deceleration is provided for the vehicle. Through this process, the kinetic energy of the vehicle is converted into electric energy, which can greatly improve the energy utilization rate of the vehicle and optimize the energy consumption of the vehicle.

[0003] Generally, the vehicle coasting energy recovery is controlled based on the motor feedback torque preset by calibration, and cannot be dynamically adjusted with the change of the vehicle load, thereby causing different decelerations due to the change of the vehicle load under the same coasting deceleration condition.

[0004] The user's perception of the coasting energy recovery is reflected in the energy recovery size. For commercial vehicles, the test mass of the empty load and the full load differs by more than one time. For the user, the perceived deceleration differs by more than one time. There are disadvantages for the user to predict the vehicle driving control, which easily causes safety accidents, poor daily driving experience and low energy utilization efficiency. SUMMARY

[0005] The purpose of the 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 strength can only use the motor feedback torque parameter preset by calibration, and cannot be dynamically adjusted with the change of the vehicle load, thereby causing different decelerations due to the change of the vehicle load under the same coasting deceleration condition.

[0006] In order to solve the above technical problem, the application is implemented as follows:

[0007] In a first aspect, the application provides a coasting energy recovery control method, which comprises:

[0008] obtaining preset parameters and an effective acceleration of a target vehicle;

[0009] performing estimation processing through a vehicle mass estimation model according to the preset parameters and the effective acceleration;

[0010] determining whether there is at least one effective mass within a preset time length, and calculating a mass estimation value of the target vehicle if it is determined that there is at least one effective mass within the preset time length.

[0011] determining the driving motor feedback torque based on the mass estimation value and the preset target deceleration;

[0012] obtaining a battery parameter, and determining a maximum feedback torque allowed by the battery according to the battery parameter;

[0013] obtaining a driving motor parameter, and determining a maximum feedback torque allowed by the motor according to the driving motor parameter;

[0014] determining a final feedback torque of the motor according to the driving motor feedback torque, the maximum feedback torque allowed by the battery, and the maximum feedback torque allowed by the motor;

[0015] controlling the motor to perform the coasting energy recovery according to the final feedback torque of the motor.

[0016] Further, before the step of obtaining the preset parameter of the target vehicle and the effective acceleration, the method further comprises: in response to a power-on signal of the target vehicle, presetting an initial mass parameter as a half-load mass, the initial mass parameter being used to calculate an initial driving motor feedback torque;

[0017] The calculation formula of the initial driving motor feedback torque is as follows:

[0018] ,

[0019] wherein, Ttq is the initial driving motor torque, M1 is the initial mass parameter, ig is the transmission gear ratio, i0 is the main reducer gear ratio, ηT is the mechanical efficiency of the transmission system, r is the wheel radius, CD is the air resistance coefficient, A is the windward area, u is the driving speed, f is the rolling resistance coefficient, g is the gravitational acceleration, j is the transmission system moment of inertia, w1 is the transmission system angular acceleration, and a1 is the target deceleration.

[0020] Further, the step of obtaining the preset parameter of the target vehicle and the effective acceleration specifically comprises: obtaining the preset parameter of the target vehicle, the preset parameter at least including the transmission system moment of inertia and the wheel radius; collecting acceleration data of the target vehicle through a vehicle longitudinal acceleration collection device; filtering the acceleration data through a low-pass filter to filter out acceleration noise and obtain pure acceleration; and taking the pure acceleration falling within a preset effective range as the effective acceleration.

[0021] Further, the step of estimating the mass of the target vehicle through the vehicle mass estimation model according to the preset parameter and the effective acceleration specifically comprises: determining a driving equation mass parameter according to the effective acceleration and the preset parameter; and estimating the mass of the target vehicle through the vehicle mass estimation model according to the driving equation mass parameter.

[0022] The calculation formula of the driving equation mass parameter is as follows:

[0023]

[0024] wherein M is a mass parameter of a driving equation, T tq is an initial driving motor torque, i g is a transmission gear ratio, i0 is a main reducer gear ratio, η T is a mechanical efficiency of a drive train, r is a wheel radius, C D is an air resistance coefficient, A is a windward area, u is a driving speed, f is a rolling resistance coefficient, i is a longitudinal slope, g is a gravitational acceleration, j is a rotational inertia of a drive train, w is an angular acceleration of the drive train, and a is an effective acceleration.

[0025] Further, after the step of determining the mass of the target vehicle according to the mass parameter of the driving equation through the vehicle mass estimation model, the method further comprises: confirming that the mass of the target vehicle is an effective mass in a case that the mass of the target vehicle is not greater than a preset maximum calculated mass and not less than a preset minimum calculated mass.

[0026] Further, the step of calculating the mass estimation value of the target vehicle if it is determined that there is at least one effective mass in the preset time period comprises: determining whether there is at least one effective mass in the preset time period, and if it is determined that there is at least one effective mass in the preset time period, calculating an average value of the effective masses in the preset time period, and taking the average value as the mass estimation value of the target vehicle; and if it is determined that there is no at least one effective mass in the preset time period, taking the mass estimation value in the previous preset time period as the mass estimation value in the preset time period.

[0027] Further, the step of determining the final motor feedback torque according to the driving motor feedback torque, the maximum feedback torque allowed by the battery, and the maximum feedback torque allowed by the motor comprises: comparing 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, respectively; and selecting the absolute value of the minimum one of the driving motor feedback torque, the maximum feedback torque allowed by the battery, and the maximum feedback torque allowed by the motor as the final motor feedback torque.

[0028] In a second aspect, the application provides a coasting energy recovery control system, mainly comprising:

[0029] a data acquisition module configured to acquire preset parameters and an effective acceleration of a target vehicle;

[0030] a mass estimation module configured to perform estimation processing according to the preset parameters and the effective acceleration through a vehicle mass estimation model;

[0031] The judgment module is configured to judge whether there is at least one valid mass in a preset time period, and calculate a mass estimation value of the target vehicle if it is determined that there is at least one valid mass in the preset time period.

[0032] The drive motor feedback torque determination module is configured to determine a drive motor feedback torque based on the mass estimation value and a preset target deceleration.

[0033] The battery-allowed maximum feedback torque determination module is configured to obtain battery parameters, and determine a battery-allowed maximum feedback torque according to the battery parameters.

[0034] The motor-allowed maximum feedback torque determination module is configured to obtain drive motor parameters, and determine a motor-allowed maximum feedback torque according to the drive motor parameters.

[0035] The motor final feedback torque determination module is configured to determine a motor final feedback torque according to the drive motor feedback torque, the battery-allowed maximum feedback torque, and the motor-allowed maximum feedback torque.

[0036] The motor control module is configured to control the motor to perform the coasting energy recovery according to the motor final feedback torque.

[0037] In a third aspect, the present application provides a vehicle, which comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, and the program or instruction is executed by the processor to implement the steps of the coasting energy recovery control method according to the first aspect.

[0038] In a fourth aspect, the present application provides a readable storage medium, and the readable storage medium stores a program or instruction, and the program or instruction is executed by a processor to implement the steps of the method according to the first aspect.

[0039] In the present application, firstly, the preset parameters and the effective acceleration of the target vehicle are acquired, and the preset parameters and the effective acceleration are estimated by a vehicle mass estimation model; then it is judged whether there is at least one effective mass in a preset time period, and if it is determined that there is at least one effective mass in the preset time period, the mass estimation value of the target vehicle is calculated; subsequently, based on the mass estimation value and the preset target deceleration, the drive motor feedback torque is determined; the battery parameters are acquired, and the maximum feedback torque allowed by the battery is determined according to the battery parameters; the drive motor parameters are acquired, and the maximum feedback torque allowed by the motor is determined according to the drive motor parameters; then, 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 final motor feedback torque is determined; finally, according to the final motor feedback torque, the motor is controlled to perform coasting energy recovery. That is, by estimating the vehicle mass estimation model, the preset target deceleration is calibrated, the estimated vehicle mass is used for motor feedback torque calculation and dynamic control of the motor feedback torque, so as to realize the same deceleration of the vehicle from empty load to full load, and to solve the technical problem that the energy recovery strength can only use the calibrated preset motor feedback torque parameter, and cannot be dynamically adjusted with the change of vehicle load, thereby causing different decelerations due to the change of vehicle load in the same coasting deceleration condition. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a flowchart of a coasting energy recovery control method provided by some embodiments of the present application.

[0041] Figure 2 is a structural schematic diagram of a coasting energy recovery control system provided by some embodiments of the present application.

[0042] Figure 3 is a structural schematic diagram of a vehicle provided by some embodiments of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects and are not used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of this application can be implemented in an order other than those illustrated or described herein. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0045] The coasting energy recovery control method provided in the embodiment of the present application is described in detail below with reference to specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0046] It is worth noting that the coasting energy recovery control method disclosed in this application uses a vehicle mass estimation model to perform estimation processing, calibrate a preset target deceleration, use the estimated vehicle mass in calculating the motor regenerative torque, and dynamically control the motor regenerative torque, thereby achieving a nearly consistent deceleration rate for the entire vehicle from no-load to fully loaded. This solves the problem of varying deceleration rates due to vehicle load variations under the same coasting deceleration conditions, hindering user prediction of vehicle driving control, leading to safety accidents, a poor daily driving experience, and low energy utilization efficiency.

[0047] 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 includes the following steps S101 to S108, wherein:

[0048] S101, obtaining preset parameters and effective acceleration of the target vehicle.

[0049] In some embodiments of the present application, before obtaining the preset parameters and effective acceleration step of the target vehicle, the initial mass parameter is preset to half-load mass in response to the power-on signal of the target vehicle, and the initial mass parameter is used to calculate the initial drive motor feedback torque.

[0050] The calculation formula of the initial drive motor feedback torque is as follows:

[0051] ,

[0052] Where, 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 drive 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 due to gravity, j is the moment of inertia of the drive system, w1 is the angular acceleration of the drive system, and a1 is the target deceleration.

[0053] In this embodiment, the initial mass parameter is set as the half load mass for calculating the initial drive motor feedback torque to ensure the normal operation of the target vehicle after the target vehicle starts and before the effective mass is calculated.

[0054] It is worth mentioning that the design full load mass parameter will be defined during the development of the vehicle, and this mass is also part of the vehicle announcement parameters. The half load mass is half of the full load mass.

[0055] In some embodiments of the present application, preset parameters of the target vehicle are obtained, and the preset parameters at least include the transmission system moment of inertia, wheel radius, etc.

[0056] In this embodiment, the preset parameters can also be transmission ratio, main reducer transmission ratio, mechanical efficiency of the transmission system, air resistance coefficient, wind area, driving speed, rolling resistance coefficient, longitudinal slope and angular acceleration of the transmission system, etc., so as to ensure that the vehicle mass estimation model can operate in the best state under certain conditions.

[0057] In some embodiments of the present application, acceleration data of the target vehicle is collected through a vehicle longitudinal acceleration collection device; the acceleration data is filtered and processed through a low-pass filter to filter out acceleration noise and obtain pure acceleration; and the pure acceleration falling within a preset effective interval range is taken as effective acceleration.

[0058] In this embodiment, the vehicle longitudinal acceleration collection device is a device specially used for collecting acceleration data of the target vehicle. When the vehicle is driving, the three-axis sensor built-in the vehicle longitudinal acceleration collection device can sense the acceleration change of the vehicle in real time and collect it.

[0059] The low-pass filter is a filter that can allow low-frequency signals to pass through while suppressing or attenuating high-frequency signals. By filtering and processing the acceleration data through the low-pass filter, the 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, which usually reflect the actual acceleration change of the vehicle and are an important basis for subsequent data analysis and processing.

[0060] The effective acceleration is selected as the pure acceleration falling within an effective interval range, which is obtained based on statistical analysis of real vehicle measurement, and a vehicle speed-acceleration boundary map (hereinafter referred to as a vehicle speed-acceleration boundary Map) is used as a basis for calculating the effective interval 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 reach at different vehicle speeds. According to the vehicle speed-acceleration boundary Map, the pure acceleration within the acceleration range, i.e., the effective interval range, is selected as the effective acceleration.

[0061] It is worth noting that when collecting acceleration, appropriate mathematical methods and algorithms such as numerical differentiation method or difference method can be used to obtain acceleration data by taking the derivative of the vehicle speed signal instead of using acceleration sensors, which can avoid the cost and complexity of directly installing acceleration sensors.

[0062] In S102, the vehicle mass estimation model is used to estimate the mass of the target vehicle according to the preset parameters and the effective acceleration.

[0063] In some embodiments of the present application, the driving equation mass parameter is determined according to the effective acceleration and the preset parameters, and the mass of the target vehicle is estimated by the vehicle mass estimation model according to the driving equation mass parameter.

[0064] The calculation formula of the driving equation mass parameter is as follows:

[0065]

[0066] where M is the driving equation mass parameter, T tq is the driving motor torque, i g is the transmission ratio, i0 is the main reducer transmission ratio, η T is the mechanical efficiency of the drive train, r is the wheel radius, C D is the air resistance coefficient, A is the wind area, u is the driving speed, f is the rolling resistance coefficient, i is the longitudinal slope, g is the gravitational acceleration, j is the transmission system moment of inertia, w is the transmission system angular acceleration, and a is the effective acceleration.

[0067] In this embodiment, i is calculated as follows:

[0068] i = (a – δv / δt)*10,

[0069] where v is the vehicle speed in m / s.

[0070] S103, determining whether there is at least one valid mass in the preset time length, and if it is determined that there is at least one valid mass in the preset time length, calculating the mass estimation value of the target vehicle.

[0071] In some embodiments of the present application, it is first needed to confirm whether the mass estimated by the vehicle mass estimation model for the target vehicle is a valid mass, and the determination criterion of the valid mass is that the estimated mass of the target vehicle is not greater than a preset maximum calculation mass and not less than a preset minimum calculation mass.

[0072] In this embodiment, the minimum calculation mass is the curb mass, the curb mass is the weight of the automobile in the empty state, i.e., the mass of the automobile without passengers or without cargo, the vehicle design total weight is the sum of the curb mass and the design load mass, and the maximum calculation mass is 1.5 times the vehicle design total weight.

[0073] In some embodiments of the present application, it is determined whether there is at least one valid mass in the preset time length, if it is determined that there is at least one valid mass in the preset time length, the average value of the valid masses in the preset time length is calculated, and the average value is taken as the mass estimation value of the target vehicle; if it is determined that there is no at least one valid mass in the preset time length, the mass estimation value in the last preset time length is taken as the mass estimation value in the preset time length.

[0074] In this embodiment, the preset time length can be 5 minutes, when it is determined that there is at least one valid mass in 5 minutes, the average value of the valid masses in 5 minutes is calculated, and the average value is taken as the mass estimation value of the target vehicle and output to the Controller Area Network (CAN) bus.

[0075] When the vehicle has obtained the mass estimation value and is normally running, if there is no valid mass in 5 minutes, the vehicle control unit takes the mass estimation value output to the CAN bus last time as the mass estimation value in this 5 minutes.

[0076] S104, determining the drive motor feedback torque based on the mass estimation value and a preset target deceleration.

[0077] In some embodiments of the present application, the vehicle control unit obtains the mass estimation value from the CAN bus, and calculates the drive motor feedback torque through the mass estimation value and the preset target deceleration.

[0078] In this embodiment, the CAN bus is used as the main channel for communication between various electronic control units (ECUs) inside the vehicle, which can efficiently transmit various sensor data and instruction information. The vehicle mass estimation model inputs the mass estimation value to the CAN bus. After obtaining the mass estimation value, the vehicle controller further calculates the required drive motor feedback torque based on the preset target deceleration. The driver's perception is represented in the form of acceleration. To ensure consistent driver experience under different loads, unlike the prior art which uses motor or wheel edge feedback torque as the basis for control target, the present application uses the preset target deceleration as the basis for control target of sliding energy recovery.

[0079] S105, obtaining battery parameters, and determining the maximum feedback torque allowed by the battery according to the battery parameters;

[0080] 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. The maximum feedback torque allowed by the battery is determined according to the maximum charging power of the battery and the current vehicle speed.

[0081] 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 feedback torque allowed by the battery is calculated according to the maximum charging power of the battery and the current vehicle speed.

[0082] It is worth noting that this data is usually provided by the battery management system (BMS), which monitors the state of the battery pack in real time, including the voltage, current, temperature, and remaining capacity of the battery, and calculates the maximum charging power that the battery can withstand under the current conditions. The vehicle controller also needs to calculate and obtain the current vehicle speed information in real time. This information is usually obtained from the vehicle speed sensor, which can accurately convert the vehicle speed into an electrical signal for analysis and processing by the vehicle controller. The maximum feedback torque allowed by the battery is calculated by the maximum charging power of the battery and the current vehicle speed.

[0083] S106, obtaining drive motor parameters, and determining the maximum feedback torque allowed by the motor according to the drive motor parameters;

[0084] 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. The maximum feedback torque allowed by the motor is determined according to the maximum power generation of the drive motor and the current vehicle speed.

[0085] 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 according to the maximum power generation of the drive motor and the current vehicle speed.

[0086] It is worth mentioning that the data is usually provided by a motor control unit (MCU), which is a key component for controlling the operation of the motor. The driving motor parameters can also be the maximum generated current, the maximum generated voltage, and other parameters of the driving motor, which can be used to determine the maximum feedback torque allowed by the motor.

[0087] S107, determining the final feedback torque of the motor according to the driving motor feedback torque, the maximum feedback torque allowed by the battery, and the maximum feedback torque allowed by the motor.

[0088] In some embodiments of the present application, 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 absolute value of the driving 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.

[0089] In this embodiment, the driving motor feedback torque calculated according to the mass estimation value and the preset target deceleration also needs to be compared with the motor maximum feedback constraint condition, i.e., the maximum feedback torque allowed by the battery and the maximum feedback torque allowed by the motor. The absolute value can reflect the size of the value without considering its positive and negative, which can determine the size of the feedback torque. By selecting the absolute value of the driving motor feedback torque, the maximum feedback torque allowed by the battery, and the maximum feedback torque allowed by the motor as the final feedback torque of the motor.

[0090] S108, controlling the motor to perform coasting energy recovery according to the final feedback torque of the motor.

[0091] 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 the preset control strategy and algorithm, thereby performing coasting energy recovery.

[0092] In the embodiment of the present application, first, the preset parameters and the effective acceleration of the target vehicle are acquired, and the preset parameters and the effective acceleration are used to perform estimation processing through a vehicle mass estimation model; then, it is determined whether there is at least one effective mass in a preset time period, and if it is determined that there is at least one effective mass in the preset time period, the mass estimation value of the target vehicle is calculated; subsequently, based on the mass estimation value and the preset target deceleration, the drive motor feedback torque is determined; the battery parameters are acquired, and the maximum feedback torque allowed by the battery is determined according to the battery parameters; the drive motor parameters are acquired, and the maximum feedback torque allowed by the motor is determined according to the drive motor parameters; then, the motor final feedback torque is determined according to the drive motor feedback torque, the maximum feedback torque allowed by the battery, and the maximum feedback torque allowed by the motor; finally, the motor is controlled to perform coasting energy recovery according to the motor final feedback torque. 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 for motor feedback torque calculation and dynamic control of the motor feedback torque, so that the vehicle has a consistent deceleration from no load to full load, and the technical problem that the energy recovery strength can only use the calibrated preset motor feedback torque parameter and cannot be dynamically adjusted with the vehicle load change, thereby causing different decelerations due to the change of the vehicle load under the same coasting deceleration condition, is solved.

[0093] It should be noted that the coasting energy recovery control system provided in the embodiments of the present application can be a coasting energy recovery control system, or a control module in the system for executing the coasting energy recovery control method. In the embodiments of the present application, the coasting energy recovery control system executes the coasting energy recovery control method as an example to illustrate the coasting energy recovery control method provided in the embodiments of the present application.

[0094] The coasting energy recovery control system in the embodiments of the present application can be a system, or a component, integrated circuit, or chip in a terminal. The system can be a mobile electronic device, or a non-mobile electronic device. Illustratively, the mobile electronic device can be a vehicle-mounted electronic device, a wearable device, etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), etc., which are not limited in the embodiments of the present application.

[0095] The coasting energy recovery control system provided in the embodiments of the present application can achieve Figure 1 The processes achieved in the method embodiments will not be described herein again to avoid repetition.

[0096] Please refer to Figure 2 , Figure 2 FIG. 1 shows a structure schematic diagram of a coasting energy recovery control system provided in an embodiment of the second aspect of the present application, and the system comprises:

[0097] The data acquisition module 201 is configured to acquire preset parameters and effective acceleration of the target vehicle.

[0098] In this embodiment, the data acquisition module 201 is specifically configured to acquire the preset parameters of the target vehicle, at least including the rotational inertia of the transmission system, the wheel radius, and the acceleration data of the target vehicle collected by the vehicle longitudinal acceleration collection device; the acceleration data is filtered by a low-pass filter to filter out acceleration noise, and the pure acceleration is acquired and the pure acceleration falling within the preset effective interval range is taken as the effective acceleration.

[0099] The mass estimation module 202 is configured to estimate by a vehicle mass estimation model according to the preset parameters and the effective acceleration.

[0100] In this embodiment, the mass estimation module 202 is specifically configured to determine a driving equation mass parameter according to the effective acceleration and the preset parameters; and estimate the mass of the target vehicle by the vehicle mass estimation model according to the driving equation mass parameter.

[0101] The judgment module 203 is configured to judge whether there is at least one effective mass within a preset time length, and calculate the mass estimation value of the target vehicle if it is determined that there is at least one effective mass within the preset time length.

[0102] In this embodiment, the judgment module 203 is specifically configured to judge whether there is at least one effective mass within a preset time length, and calculate the average value of the effective mass within the preset time length as the mass estimation value of the target vehicle if it is determined that there is at least one effective mass within the preset time length; if it is determined that there is no at least one effective mass within the preset time length, the mass estimation value within the last preset time length is taken as the mass estimation value within the preset time length.

[0103] The drive motor feedback torque determination module 204 is configured to determine the drive motor feedback torque based on the mass estimation value and a preset target deceleration.

[0104] In this embodiment, the drive motor feedback torque determination module 204 is specifically configured to further calculate the required drive motor feedback torque according to the preset target deceleration after the mass estimation value is acquired.

[0105] The battery allowed maximum feedback torque determination module 205 is configured to acquire battery parameters and determine the maximum feedback torque allowed by the battery according to the battery parameters.

[0106] In this embodiment, the battery allowed maximum feedback torque determination module 205 is specifically configured to acquire the maximum charging power of the battery from the CAN bus, and calculate the current vehicle speed, and determine the maximum feedback torque allowed by the battery according to the maximum charging power of the battery and the current vehicle speed.

[0107] The maximum feedback torque allowed by the motor determination module 206 is configured to acquire a driving motor parameter, and determine the maximum feedback torque allowed by the motor according to the driving motor parameter.

[0108] In this embodiment, the maximum feedback torque allowed by the motor determination module 206 is specifically configured to acquire the maximum power generation of the driving motor allowed by the motor from the CAN bus, and calculate a current vehicle speed, and determine the maximum feedback torque allowed by the motor according to the maximum power generation of the driving motor and the current vehicle speed.

[0109] The final feedback torque of the motor determination module 207 is configured to 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.

[0110] In this embodiment, the final feedback torque of the motor determination module 207 is specifically configured to compare 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, and select the absolute value of the minimum one 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 as the final feedback torque of the motor.

[0111] The motor control module 208 is configured to control the motor to perform the coasting energy recovery according to the final feedback torque of the motor.

[0112] In the embodiments of the present application, first, the preset parameters and the effective acceleration of the target vehicle are acquired, and the preset parameters and the effective acceleration are estimated by a vehicle mass estimation model; then it is determined whether there is at least one effective mass within a preset time period, and if it is determined that there is at least one effective mass within the preset time period, the mass estimation value of the target vehicle is calculated; subsequently, the feedback torque of the driving motor is determined based on the mass estimation value and the preset target deceleration; the battery parameters are acquired, and the maximum feedback torque allowed by the battery is determined according to the battery parameters; the driving motor parameters are acquired, and the maximum feedback torque allowed by the motor is determined according to the driving motor parameters; then 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; finally, the motor is controlled to perform the coasting energy recovery according to the final feedback torque of the motor. That is, the vehicle mass estimation model is used for estimation processing, the preset target deceleration is calibrated, and the estimated vehicle mass is used for motor feedback torque calculation and dynamic control of the motor feedback torque, so that the vehicle has a consistent deceleration from no load to full load, and the technical problem that the energy recovery intensity can only use the calibrated preset motor feedback torque parameter and cannot be dynamically adjusted with the vehicle load change, thereby causing different decelerations due to the change of the vehicle load under the same coasting deceleration condition, is solved.

[0113] The embodiment of the third aspect of the application also provides a vehicle, as shown in the figure, which comprises a processor 301, a memory 302, and a program or instruction 303 stored in the memory and executable on the processor, which, when executed by the processor, implements each process of the embodiment of the sliding energy recovery control method described above and achieves the same technical effects. To avoid repetition, details are not described here. Figure 3 The embodiment of the third aspect of the application also provides a vehicle, as shown in the figure, which comprises a processor 301, a memory 302, and a program or instruction 303 stored in the memory and executable on the processor, which, when executed by the processor, implements each process of the embodiment of the sliding energy recovery control method described above and achieves the same technical effects. To avoid repetition, details are not described here.

[0114] The embodiment of the fourth aspect of the application also provides a readable storage medium, which stores a program or instruction, which, when executed by a processor, implements each step of the embodiment of the sliding energy recovery control method described above and achieves the same technical effects. To avoid repetition, details are not described here.

[0115] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles, or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the application is not limited to the order of performing the functions as shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from the described order, and various steps can be added, omitted, or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0116] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and a necessary general hardware platform, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in each embodiment of the application.

[0117] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims.

Claims

1. A coasting energy recovery control method, characterized in that: The method comprises: Obtain the preset parameters and effective acceleration of the target vehicle; Performing estimation processing using a vehicle mass estimation model according to the preset parameters and the effective acceleration; If 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 a valid mass; determining whether at least one valid mass exists within a preset time period, and if it is determined that at least one valid mass exists within the preset time period, calculating an estimated mass value of the target vehicle; The step of determining whether at least one valid mass exists 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 estimate of the target vehicle specifically includes: determining whether there is at least one valid mass within a preset time period; if it is determined that at least one valid mass exists within the preset time period, calculating an average value of the valid masses within the preset time period, and using the average value as a mass estimate of the target vehicle; If it is determined that there is no at least one valid quality within the preset time period, obtaining the quality estimation value within the previous preset time period as the quality estimation value within the preset time period; determining a feedback torque of a drive 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; Acquiring drive motor parameters, and determining a 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 drive 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 to 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: ， Where, 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 drive 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 due to gravity, j is the moment of inertia of the drive system, w1 is the angular acceleration of the drive 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: Obtaining preset parameters of the target vehicle, wherein the preset parameters include at least the moment of 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 remove acceleration noise and obtain pure acceleration; The pure acceleration that falls 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 using a vehicle mass estimation model based on the preset parameters and the effective acceleration specifically includes: Determine the quality parameters of the driving equation based on the effective acceleration and preset parameters; According to the mass parameters of the driving equation, the mass of the target vehicle is estimated by the 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 due to 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 1, characterized in that: The step of determining the final feedback torque of the motor 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 specifically includes: 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; 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.

6. A coasting energy recovery control system, characterized in that: The system comprises: A data acquisition module is used to obtain preset parameters and effective acceleration of the target vehicle; A mass estimation module, configured to perform estimation processing using a vehicle mass estimation model based on the preset parameters and the effective acceleration; If 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 a valid mass; a determination module, configured to determine whether at least one valid mass exists within a preset time period, and if it is determined that at least one valid mass exists within the preset time period, calculate an estimated mass value of the target vehicle; The step of determining whether at least one valid mass exists 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 estimate of the target vehicle specifically includes: determining whether there is at least one valid mass within a preset time period; if it is determined that at least one valid mass exists within the preset time period, calculating an average value of the valid masses within the preset time period, and using the average value as a mass estimate of the target vehicle; If it is determined that there is no at least one valid quality within the preset time period, obtaining the quality estimation value within the previous preset time period as the quality estimation value within the preset time period; a drive motor feedback torque determination module, configured to determine the drive motor feedback torque based on the mass estimation value and a preset target deceleration; a module for determining a maximum regenerative torque allowed by the battery, configured to obtain battery parameters and determine a maximum regenerative torque allowed by the battery according to the battery parameters; A maximum feedback torque determination module allowed by the motor is 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, configured 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.

7. A vehicle, characterized in that: The method 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 coasting energy recovery control method according to any one of claims 1 to 5.

8. 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 according to any one of claims 1 to 5 are implemented.

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