Energy recovery control method, device and equipment based on electro-hydraulic distribution and medium

Abstract

The invention provides an energy recovery control method and device based on electro-hydraulic distribution, equipment and a medium, and relates to the technical field of vehicle control, and the method comprises the steps that when a vehicle meets the sliding energy recovery condition, the sliding recovery torque of the vehicle is obtained; when the vehicle meets the braking energy recovery condition, the braking torque and the torque recovery limit value of the vehicle are obtained; according to the first comparison result of the braking torque of the vehicle and the torque recovery limit value, the electric braking recovery torque and the hydraulic braking force are determined; actual hydraulic braking force of the vehicle is obtained; according to a second comparison result of the hydraulic braking force and the actual hydraulic braking force, the state of a braking controller and an electric braking compensation value are determined; and superposing the sliding recovery torque, the electric braking recovery torque and the electric braking compensation value as a target recovery request torque for energy recovery. According to the technical scheme, the braking relation between electric braking and hydraulic braking can be flexibly processed, braking safety is guaranteed, and the recovery rate of braking energy is increased.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an energy recovery control method, device, equipment and medium based on electro-hydraulic distribution. Background Art

[0002] With the vigorous development of new energy vehicles in China, energy recovery of new energy vehicles has also become a key function of the entire vehicle.

[0003] At present, there are mainly two energy recovery methods used in new energy vehicles: the first is that the vehicle controller requests the motor to recover torque according to the brake pedal opening and vehicle speed, and the brake system will also brake at the same time, and the two braking are superimposed, but this solution cannot meet the driver's requirements for pedal feel, and the energy of the brake system is dissipated as heat energy; the second solution is based on the current energy recovery system solution dominated by wire control braking, but the braking cost in this solution is relatively high, and the vehicle manufacturer cannot make a dominant allocation of the energy recovery function and control the specific execution effect. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an energy recovery control method, device, equipment and medium based on electro-hydraulic distribution, which jointly determines the target recovery request torque through coasting energy recovery, braking energy recovery and electric braking compensation, and can flexibly handle the braking relationship between electric braking and hydraulic braking, ensure braking safety, and improve the recovery rate of braking energy.

[0005] In a first aspect, an embodiment of the present invention provides an energy recovery control method based on electro-hydraulic distribution: When the vehicle meets the coasting energy recovery condition, obtaining the coasting recovery torque of the vehicle; When the vehicle meets the braking energy recovery condition, obtaining the braking torque and the torque recovery limit value of the vehicle; determining an electric braking recovery torque and a hydraulic braking force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value; Acquiring actual hydraulic braking force of the vehicle; determining a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force; The coasting recovery torque, the electric brake recovery torque and the electric brake compensation value are superimposed as a target recovery request torque for energy recovery.

[0006] In a preferred embodiment of the present invention, the step of obtaining the torque recovery limit value of the vehicle includes: Determining a first torque limit value according to a maximum regenerative current of the vehicle and power consumption of electrical appliances of the entire vehicle; Determining a second torque limit value according to a rotation speed and an external characteristic curve of a motor in the vehicle; determining a third torque limit value according to a speed of the vehicle; Obtaining an electric brake limit value and a rear axle tolerable torque limit value of the vehicle; A regeneration torque limit of the vehicle is determined according to the first torque limit, the second torque limit, the third torque limit, the electric brake limit, the rear axle tolerable torque limit, and the coasting regeneration torque.

[0007] In a preferred embodiment of the present invention, determining the recovery torque limit of the vehicle according to the first torque limit, the second torque limit, the third torque limit, the electric brake limit, the rear axle tolerable torque limit and the coasting recovery torque includes: The minimum value among the first torque limit, the second torque limit, the electric brake limit and the tolerable torque limit of the rear axle is used as the fourth torque limit; taking a difference between the fourth torque limit value and the coasting recovery torque as a fifth torque limit value; A minimum value between the third torque limit value and the fifth torque limit value is used as a regeneration torque limit value of the vehicle.

[0008] In a preferred embodiment of the present invention, the above-mentioned obtaining of the braking torque of the vehicle includes: Obtain the brake pedal displacement of the vehicle; According to the brake pedal displacement, query the corresponding booster cylinder pressure; The braking torque corresponding to the pedal displacement is determined according to the pressure cylinder pressure and is used as the braking torque of the vehicle.

[0009] In a preferred embodiment of the present invention, the above-mentioned determining the electric braking recovery torque and the hydraulic braking force according to the first comparison result between the braking torque of the vehicle and the torque recovery limit value includes: When the braking torque of the vehicle is less than or equal to the torque recovery limit value, the braking torque is used as the electric braking recovery torque; When the braking torque of the vehicle is greater than the torque recovery limit value, the torque recovery limit value is used as the electric braking recovery torque, and the hydraulic braking force is determined according to the difference between the braking torque and the torque recovery limit value.

[0010] In a preferred embodiment of the present invention, the above-mentioned determination of the hydraulic braking force according to the difference between the braking torque and the torque recovery limit value includes: taking the difference between the braking torque and the torque recovery limit as the hydraulic recovery torque; The ratio of the hydraulic recovery torque to the braking efficiency factor is used as the hydraulic braking force.

[0011] In a preferred embodiment of the present invention, the above-mentioned determining the brake controller state and the electric brake compensation value according to the third comparison result between the hydraulic braking force and the actual hydraulic braking force includes: When the hydraulic braking force is greater than the actual hydraulic braking force, determining that the brake controller state is a fault; determining the electric brake compensation value according to a difference between the hydraulic braking force and the actual hydraulic braking force; When the hydraulic braking force is less than or equal to the actual hydraulic braking force, it is determined that the brake controller state is normal, and the electric brake compensation value is 0.

[0012] In a preferred embodiment of the present invention, after obtaining the actual hydraulic braking force of the vehicle, the method further includes: Acquiring actual electric braking regenerative torque of the vehicle; According to a third comparison result between the electric brake recovery torque and the actual electric brake recovery torque, a motor controller state and a hydraulic brake compensation value are determined, and the hydraulic brake compensation value is used to perform hydraulic brake compensation on the actual electric brake recovery torque.

[0013] In a preferred embodiment of the present invention, the above-mentioned determining the motor controller state and the hydraulic brake compensation value according to the third comparison result of the electric brake recovery torque and the actual electric brake recovery torque includes: When the electric brake recovery torque is greater than the actual electric brake recovery torque, determining that the motor controller state is faulty; Determining the hydraulic brake compensation value according to the difference between the electric brake recovery torque and the actual electric brake recovery torque; When the electric brake recovery torque is less than or equal to the actual electric brake recovery torque, it is determined that the motor controller state is normal, and the hydraulic brake compensation value is 0.

[0014] In a preferred embodiment of the present invention, after obtaining the actual hydraulic braking force of the vehicle, the method further includes: Obtaining danger warning information of the vehicle; When the danger warning information is received, an exit compensation value is determined according to the difference between the braking torque and the exit torque, so as to perform hydraulic braking compensation on the electric braking exit process.

[0015] In a second aspect, an embodiment of the present invention further provides an energy recovery control device based on electro-hydraulic distribution, comprising: A coasting data acquisition module, used to acquire the coasting recovery torque of the vehicle when the vehicle meets the coasting energy recovery conditions; A braking data acquisition module, used for acquiring the braking torque and torque recovery limit value of the vehicle when the vehicle meets the braking energy recovery condition; a first comparison module, configured to determine the electric brake recovery torque and the hydraulic brake force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value; A hydraulic brake monitoring module, used to obtain the actual hydraulic braking force of the vehicle; a second comparison module, configured to determine a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force; The target request torque determination module is used to superimpose the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value as a target recovery request torque for energy recovery.

[0016] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the energy recovery control method based on electric-hydraulic distribution of the first aspect mentioned above.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the energy recovery control method based on electro-hydraulic distribution of the first aspect mentioned above.

[0018] The embodiments of the present invention bring the following beneficial effects: The embodiment of the present invention provides an energy recovery control method based on electro-hydraulic distribution. When the vehicle meets the coasting energy recovery conditions, the coasting recovery torque is obtained. When the vehicle meets the braking energy recovery conditions, the electric braking recovery torque is obtained, thereby realizing the recovery of coasting energy and braking energy and improving the energy recovery rate. At the same time, during the braking energy recovery process, the actual hydraulic braking force of the vehicle is monitored. When the actual hydraulic braking force cannot be met, electric braking is used for compensation in time, thereby ensuring the safety of braking and improving the flexibility of the braking relationship between electric braking and hydraulic braking. The coasting recovery torque, electric braking recovery torque and electric braking compensation value are collectively used as the target recovery torque, thereby improving the energy recovery rate.

[0019] Other features and advantages of the present invention will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present invention.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1a A flow chart of an energy recovery control method based on electro-hydraulic distribution provided by an embodiment of the present invention; Figure 1b A schematic diagram of the structure of an energy recovery control system based on electro-hydraulic distribution provided by an embodiment of the present invention; Figure 2 A flow chart of another energy recovery control method based on electro-hydraulic distribution provided by an embodiment of the present invention; Figure 3 A flow chart of another energy recovery control method based on electro-hydraulic distribution provided by an embodiment of the present invention; Figure 4 A flow chart of another energy recovery control method based on electro-hydraulic distribution provided by an embodiment of the present invention; Figure 5 A schematic diagram of the structure of an energy recovery control device based on electro-hydraulic distribution provided by an embodiment of the present invention; Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] With the vigorous development of new energy vehicles in China, energy recovery of new energy vehicles has also become a key function of the whole vehicle. During braking, the motor is used to recover braking energy as much as possible to increase endurance and reduce energy loss during braking. At the same time, current regulations require that motor recovery cannot exceed 0.3g during braking. How to achieve the maximum energy recovery during braking while meeting braking requirements has become the focus of current research.

[0025] There are two energy recovery schemes in electric VAN vehicles (electric logistics vehicles). The first is that the vehicle controller requests the motor to recover torque according to the brake pedal opening and vehicle speed, and the brake system also brakes at the same time. The two braking are superimposed, but this scheme cannot meet the driver's requirements for pedal feel, and the energy of the brake system is dissipated as heat. The second scheme is based on the energy recovery system scheme dominated by the current wire control brake, but the braking cost in this scheme is relatively high, and the vehicle manufacturer cannot make a dominant allocation of the energy recovery function and control the specific execution effect.

[0026] In summary, a new solution needs to be developed that not only meets the regulatory requirements for electric braking and recovers as much energy as possible, but also detects the execution of each energy recovery execution system in real time and responds promptly to situations that do not meet standards or are not expected during the energy recovery process.

[0027] Based on this, an energy recovery control method based on electro-hydraulic distribution provided in an embodiment of the present invention can realize the recovery of sliding energy and braking energy. At the same time, during the process of braking energy recovery, the actual hydraulic braking force of the vehicle is monitored. When the actual hydraulic braking force cannot be met, electric braking is used for compensation in time, thereby ensuring braking safety and improving the flexibility of the braking relationship between electric braking and hydraulic braking. The sliding recovery torque, electric braking recovery torque and electric braking compensation value are jointly used as the target recovery torque, thereby improving the recovery rate of energy recovery.

[0028] To facilitate understanding of this embodiment, an energy recovery control method based on electric-hydraulic distribution disclosed in an embodiment of the present invention is first introduced in detail.

[0029] Example 1 The embodiment of the present invention provides an energy recovery control method based on electro-hydraulic distribution. Figure 1a A flow chart of an energy recovery control method based on electro-hydraulic distribution provided in an embodiment of the present invention. Figure 1b The schematic diagram of the structure of an energy recovery control system based on electro-hydraulic distribution provided by an embodiment of the present invention. Figure 1bAs shown, the system includes: a vehicle control unit (VCU), a motor control unit (MCU), a battery management system (BMS), a body stability controller (ESC), a brake controller (EHB), a brake pedal, an accelerator pedal and a shifter. Among them, the VCU communicates with the MCU, BMS, ESC, EHB and the shifter through the CAN network, wherein CAN_H_500K refers to the high-level signal line of the CAN bus, which has a communication capability of a baud rate of 500Kbps (kilobits per second), and CAN_L_500K refers to the low-level signal line of the CAN bus, which has a communication capability of a baud rate of 500Kbps (kilobits per second). The VCU is connected to the brake pedal and the accelerator pedal through a hard wire. The energy recovery control method based on electro-hydraulic distribution provided in an embodiment of the present invention is applied to the vehicle controller VCU.

[0030] like Figure 1a As shown, the energy recovery control method based on electric-hydraulic distribution may include the following steps: Step S101, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque of the vehicle is obtained.

[0031] The coasting energy recovery condition refers to the judgment condition of whether to recover the coasting energy of the vehicle when the vehicle is in the coasting state. Exemplarily, the coasting energy recovery condition includes at least: the vehicle is in a high-voltage state; the vehicle has no level 3 serious faults; the vehicle speed reaches the energy recovery start threshold; the brake pedal and the accelerator pedal are in a released state. Among them, the high-voltage state is used to describe the state that the vehicle has been powered on; the level 3 serious fault can be determined by looking up the table; the energy recovery start threshold can be set according to the actual situation; the brake pedal can be detected by the voltage sensor and current sensor of the brake pedal to detect whether the brake pedal is in a released state, and the accelerator pedal can be detected by the voltage sensor and current sensor of the accelerator pedal to detect whether the accelerator pedal is in a released state. The coasting recovery torque refers to the torque value at which the motor can recover energy when the vehicle is in the coasting state.

[0032] Specifically, when the vehicle meets all the conditions in the coasting energy recovery condition, it is determined that the vehicle meets the coasting energy recovery condition, and at this time, the coasting recovery torque of the vehicle can be queried by looking up a table. For example, the coasting recovery torque corresponding to the current vehicle speed can be queried according to the current vehicle speed.

[0033] Step S102, when the vehicle meets the braking energy recovery condition, obtaining the braking torque and torque recovery limit of the vehicle.

[0034] Braking energy recovery conditions refer to the judgment conditions for whether the braking energy of the vehicle is recovered when the vehicle is in a braking state. Exemplarily, the braking energy recovery conditions include at least: the vehicle is in a high-voltage state; the vehicle does not have a level 3 serious fault; the steering wheel angle is less than 180 degrees; the vehicle speed reaches the energy recovery start threshold; the actual gear is in D gear (forward gear); the accelerator pedal is not pressed. Braking torque is used to describe the torque required during vehicle braking. The torque recovery limit is used to describe the maximum torque that the motor can recover during the energy recovery process. Among them, energy recovery includes coasting energy recovery and braking energy recovery.

[0035] Specifically, when the vehicle meets all the conditions in the braking energy recovery condition, it is determined that the vehicle meets the braking energy recovery condition, and at this time, the braking torque and torque recovery limit of the vehicle can be queried by looking up the table. For example, the pedal displacement of the brake pedal can be identified according to the voltage sensor and the current sensor of the brake pedal, and the braking torque corresponding to the pedal displacement can be queried according to the conversion relationship between the pedal displacement and the braking torque that is calibrated in advance. The torque recovery limit of the vehicle can be queried according to the speed of the motor in the vehicle and the relationship between the speed and the torque.

[0036] When the vehicle does not meet any of the braking energy recovery conditions, it is determined that the vehicle does not meet the braking energy recovery conditions. At this time, the electric braking recovery torque is determined to be 0, and the hydraulic braking force corresponding to the pedal displacement is queried based on the pre-calibrated conversion relationship between the pedal displacement and the hydraulic braking force.

[0037] Step S103: determining the electric braking recovery torque and the hydraulic braking force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value.

[0038] The first comparison result includes that the braking torque is greater than the torque recovery limit value, and the braking torque is less than or equal to the torque recovery limit value. The electric braking recovery torque refers to the torque generated by the motor during deceleration. The hydraulic braking force refers to the braking force generated by the brake controller during deceleration.

[0039] Specifically, the braking torque and the torque recovery limit are compared to obtain a first comparison result. When the first comparison result is that the braking torque is greater than the torque recovery limit, the torque recovery limit is used as the electric braking recovery torque, and the difference between the braking torque and the torque recovery limit is determined by looking up a table, and the hydraulic braking force corresponding to the difference is queried. When the first comparison result is that the braking torque is less than or equal to the torque recovery limit, the braking torque is used as the electric braking recovery torque, and the hydraulic braking force is 0.

[0040] Step S104, obtaining the actual hydraulic braking force of the vehicle.

[0041] The actual hydraulic braking force refers to the braking force actually generated by the brake controller during the deceleration of the vehicle. Specifically, the actual hydraulic braking force can be collected in real time by a sensor.

[0042] Step S105 , determining a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force.

[0043] The second comparison result includes that the hydraulic braking force is greater than the actual hydraulic braking force, and the hydraulic braking force is less than or equal to the actual hydraulic braking force. The brake controller state is used to describe whether the brake controller is faulty, and can include normal and faulty. The electric brake compensation value refers to the torque required when the hydraulic braking force is compensated by the motor control system.

[0044] Specifically, when the hydraulic braking force is greater than the actual hydraulic braking force, the brake controller state is determined to be faulty; the electric brake compensation value is determined based on the difference between the hydraulic braking force and the actual hydraulic braking force; when the hydraulic braking force is less than or equal to the actual hydraulic braking force, the brake controller state is determined to be normal, and the electric brake compensation value is 0.

[0045] That is, the hydraulic braking force is compared with the actual hydraulic braking force to obtain a second comparison result. When the second comparison result shows that the hydraulic braking force is greater than the actual hydraulic braking force, it indicates that the actual hydraulic braking force cannot meet the hydraulic braking force, the brake controller state is faulty, and electric braking is required to compensate for the hydraulic braking. The difference between the hydraulic braking force and the actual hydraulic braking force can be calculated, and the product of the difference between the hydraulic braking force and the actual hydraulic braking force and the braking efficiency factor is used as the electric braking compensation value. When the second comparison result shows that the hydraulic braking force is less than or equal to the actual hydraulic braking force, it indicates that the actual hydraulic braking force can meet the hydraulic braking force, the brake controller state is normal, and electric braking is not required to compensate for the hydraulic braking. The electric braking compensation value is determined to be 0.

[0046] Step S106: superimposing the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value as a target recovery request torque for energy recovery.

[0047] The target recovery request torque is used to describe the total value of the torque actually recovered by the electric brake during the energy recovery process of the vehicle. Specifically, the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value are added to obtain the target recovery request torque.

[0048] The embodiment of the present invention provides an energy recovery control method based on electro-hydraulic distribution. When the vehicle meets the coasting energy recovery conditions, the coasting recovery torque is obtained. When the vehicle meets the braking energy recovery conditions, the electric braking recovery torque is obtained, thereby realizing the recovery of coasting energy and braking energy and improving the energy recovery rate. At the same time, during the braking energy recovery process, the actual hydraulic braking force of the vehicle is monitored. When the actual hydraulic braking force cannot be met, electric braking is used for compensation in time, thereby ensuring the safety of braking and improving the flexibility of the braking relationship between electric braking and hydraulic braking. The coasting recovery torque, electric braking recovery torque and electric braking compensation value are collectively used as the target recovery torque, thereby improving the energy recovery rate.

[0049] Example 2 An embodiment of the present invention also provides another energy recovery control method based on electro-hydraulic distribution; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of obtaining the braking torque and torque recovery limit of the vehicle.

[0050] Figure 2 A flowchart of another energy recovery control method based on electro-hydraulic distribution provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the energy recovery control method based on electric-hydraulic distribution may include the following steps: Step S201, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque of the vehicle is obtained.

[0051] Step S202: When the vehicle meets the braking energy recovery condition, the braking torque and torque recovery limit of the vehicle are obtained.

[0052] Specifically, step A 1 -Step A 5 Get the vehicle's torque regeneration limit.

[0053] Step A 1 , determine the first torque limit value according to the maximum recovery current of the vehicle and the power consumption of the electrical appliances of the whole vehicle.

[0054] The maximum recovery current refers to the maximum current of the motor when performing energy recovery. The power consumption of the whole vehicle electrical appliances refers to the sum of the power consumed by all electrical appliances on the vehicle when they are in working state. Specifically, the first torque limit value can be determined by the following formula: first torque limit value = power consumption of the whole vehicle electrical appliances * 9550 / maximum recovery current.

[0055] Step A 2 , determine the second torque limit value according to the rotational speed and external characteristic curve of the motor in the vehicle.

[0056] The external characteristic curve is a curve describing the maximum torque that the motor can output at different speeds. Specifically, the vehicle controller can query the maximum torque corresponding to the speed on the external characteristic curve according to the speed of the motor, and use it as the second torque limit.

[0057] Step A 3 , determining a third torque limit value according to the vehicle speed.

[0058] Specifically, the third torque limit value can be calculated by the following formula: , where a is the torque limit coefficient; V is the vehicle speed; Vexit is the energy recovery exit speed; b is the energy recovery limit offset, a, b, Vexit can be set according to actual conditions.

[0059] Step A 4 , obtain the electric braking limit and the rear axle tolerable torque limit of the vehicle.

[0060] The electric brake limit refers to the maximum torque value that can be recovered by electric brakes during energy recovery according to regulatory requirements. That is, the torque that can be recovered by electric brakes under 0.3g longitudinal acceleration, where g refers to the acceleration of gravity. Specifically, the electric brake limit can be calculated according to the following two formulas: T=FR, F=Ma; where T is the electric brake limit; F is the force; R is the braking radius; M is the vehicle mass; a is the longitudinal acceleration, and in this embodiment, a=0.3g.

[0061] The rear axle's tolerable torque limit refers to the maximum torque value that the vehicle's rear axle can tolerate, which can be found in the table based on the vehicle's actual conditions.

[0062] Step A 5 , determining the recovery torque limit of the vehicle according to the first torque limit, the second torque limit, the third torque limit, the electric brake limit, the rear axle tolerable torque limit and the coasting recovery torque.

[0063] The minimum value may be selected from the first torque limit, the second torque limit, the third torque limit, the electric brake limit, and the rear axle tolerable torque limit, and the difference between the minimum value and the coasting recovery torque is used as the vehicle's recovery torque limit.

[0064] In another possible implementation manner, the recovery torque limit of the vehicle is determined based on the first torque limit, the second torque limit, the third torque limit, the electric braking limit, the rear axle tolerable torque limit and the coasting recovery torque, including: taking the minimum value of the first torque limit, the second torque limit, the electric braking limit and the rear axle tolerable torque limit as the fourth torque limit; taking the difference between the fourth torque limit and the coasting recovery torque as the fifth torque limit; taking the minimum value of the third torque limit and the fifth torque limit as the recovery torque limit of the vehicle.

[0065] By comprehensively considering the torque limits obtained in various ways, the vehicle's recovery torque limit is obtained, which can accurately calculate the vehicle's torque recovery limit under different working conditions, ensuring that the recovery torque will not damage vehicle components (such as motors, rear axles, etc.) due to being too large, nor will it reduce energy recovery efficiency due to being too small, thereby improving the overall safety of vehicle driving. The solution also considers the coasting recovery torque, and by incorporating it into the calculation of the torque recovery limit, it further improves the energy recovery rate and extends the vehicle's cruising range.

[0066] Specifically, step B 1 -Step B 3 Get the vehicle's brake torque.

[0067] Step B 1 , obtain the vehicle's brake pedal displacement.

[0068] The brake pedal displacement refers to the pedal displacement of the brake pedal. Specifically, the brake controller can obtain the voltage and current collected by the voltage sensor and the current sensor set on the brake pedal, and determine the brake pedal displacement according to the conversion relationship between the pre-calibrated voltage and current and the brake pedal displacement.

[0069] Step B 2 , according to the brake pedal displacement, query the corresponding booster cylinder pressure.

[0070] The vehicle controller calibrates the conversion relationship between pedal displacement and pressure cylinder pressure based on the relationship between pedal displacement and pedal force, and the relationship between pedal force and vehicle deceleration. Among them, the deceleration and pressure cylinder pressure are linearly related.

[0071] Specifically, the vehicle controller can query the booster cylinder pressure corresponding to the pedal displacement according to the pedal displacement transmitted by the brake controller.

[0072] Step B 3 , according to the pressure cylinder pressure, the braking torque corresponding to the pedal displacement is determined and used as the braking torque of the vehicle.

[0073] Specifically, the product of the pressure cylinder pressure and the braking efficiency factor is taken as the braking torque corresponding to the pedal displacement, that is, the braking torque.

[0074] The vehicle controller calibrates the conversion relationship between pedal displacement and pedal force, and between pedal force and vehicle deceleration, to meet the driver's requirements for pedal feel, solving the problem that the prior art cannot meet the driver's requirements for pedal feel. At the same time, the corresponding booster cylinder pressure is queried based on the brake pedal displacement, and then the brake torque is determined. This process reduces the error in the intermediate links, improves the response accuracy of the brake system to the driver's input, and makes the vehicle's braking behavior more in line with the driver's expectations.

[0075] Step S203: determining the electric braking recovery torque and the hydraulic braking force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value.

[0076] Step S204, obtaining the actual hydraulic braking force of the vehicle.

[0077] Step S205: determining a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force.

[0078] Step S206, obtaining danger warning information of the vehicle.

[0079] Danger alarm information refers to the alarm information issued by the safety control system in the vehicle, and the safety control system at least includes ABS (anti-lock braking system), TCS (traction control system), VDC (vehicle dynamic control system), HBC (hydraulic brake control system), etc. Specifically, the vehicle controller can receive the vehicle's dangerous alarm information in real time.

[0080] Step S207, when the danger warning information is received, determining an exit compensation value according to the difference between the braking torque and the exit torque, so as to perform hydraulic braking compensation on the electric braking exit process.

[0081] The exit compensation value refers to the hydraulic braking force required to compensate for the electric brake when exiting the electric braking process. The exit torque refers to the electric brake recovery torque during the electric brake exit process. It is understandable that, upon receiving the danger alarm information, the VCU will quickly reduce the electric brake recovery torque requested by the VCU to 0 at a fixed large slope. This slope is a calibration value that can be calibrated in practice. The exit torque can be obtained by looking up the table.

[0082] Specifically, when the danger warning information is received, it means that there is a situation that threatens the driving safety of the vehicle. At this time, it is necessary to exit the electric brake and use hydraulic braking to compensate for the electric brake. The exit compensation value can be determined according to the following formula: exit compensation value = (braking torque-exit torque) / braking efficiency factor.

[0083] Step S208: superimposing the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value as a target recovery request torque for energy recovery.

[0084] When the danger alarm information is received, hydraulic braking compensation for the electric braking exit process is implemented, thereby improving braking safety, optimizing braking smoothness, enhancing system flexibility, reducing system response time, and improving braking energy efficiency.

[0085] Example 3 An embodiment of the present invention also provides another energy recovery control method based on electro-hydraulic distribution; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of determining the electric braking recovery torque and the hydraulic braking force based on the first comparison result of the braking torque of the vehicle and the torque recovery limit.

[0086] Figure 3 A flowchart of another energy recovery control method based on electro-hydraulic distribution provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the energy recovery control method based on electric-hydraulic distribution may include the following steps: Step S301, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque of the vehicle is obtained.

[0087] Step S302: When the vehicle meets the braking energy recovery condition, the braking torque and torque recovery limit of the vehicle are obtained.

[0088] Step S303: when the braking torque of the vehicle is less than or equal to the torque recovery limit value, the braking torque is used as the electric braking recovery torque.

[0089] When the first comparison result shows that the braking torque is less than or equal to the torque recovery limit value, the braking torque is used as the electric braking recovery torque, and the hydraulic braking force is 0, so that electric braking is fully relied upon within the electric braking capacity.

[0090] Step S304: when the braking torque of the vehicle is greater than the torque recovery limit value, the torque recovery limit value is used as the electric braking recovery torque, and the hydraulic braking force is determined according to the difference between the braking torque and the torque recovery limit value.

[0091] When the first comparison result shows that the braking torque is greater than the torque recovery limit, the torque recovery limit is used as the electric braking recovery torque. The difference between the braking torque and the torque recovery limit is used as the hydraulic recovery torque, and the ratio of the hydraulic recovery torque to the braking efficiency factor is used as the hydraulic braking force. The hydraulic recovery torque is used to describe the torque required to be provided by the hydraulic brake during the energy recovery process.

[0092] Step S305, obtaining the actual hydraulic braking force of the vehicle.

[0093] Step S306: determining a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force.

[0094] Step S307: superimposing the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value as a target recovery request torque for energy recovery.

[0095] The energy recovery control method based on electro-hydraulic distribution provided in the embodiment of the present invention realizes the distribution of electric braking and hydraulic braking through the torque recovery limit, relies entirely on electric braking within the electric braking capacity, realizes the maximization of energy recovery, and improves the energy recovery rate.

[0096] Example 4 An embodiment of the present invention also provides another energy recovery control method based on electro-hydraulic distribution; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method after obtaining the actual hydraulic braking force of the vehicle.

[0097] Figure 4 A flowchart of another energy recovery control method based on electro-hydraulic distribution provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the energy recovery control method based on electric-hydraulic distribution may include the following steps: Step S401, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque of the vehicle is obtained.

[0098] Step S402: When the vehicle meets the braking energy recovery condition, the braking torque and torque recovery limit of the vehicle are obtained.

[0099] Step S403: determining the electric braking recovery torque and the hydraulic braking force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value.

[0100] Step S404, obtaining the actual hydraulic braking force of the vehicle.

[0101] Step S405: determining a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force.

[0102] Step S406, obtaining the actual electric braking recovery torque of the vehicle.

[0103] The actual electric brake recovery torque refers to the braking force actually generated by the motor control system during the vehicle deceleration process. Specifically, the actual electric brake recovery torque can be collected in real time through sensors.

[0104] Step S407, determining a motor controller state and a hydraulic brake compensation value according to a third comparison result between the electric brake recovery torque and the actual electric brake recovery torque, wherein the hydraulic brake compensation value is used to perform hydraulic brake compensation on the actual electric brake recovery torque.

[0105] The third comparison result includes that the electric brake recovery torque is greater than the actual electric brake recovery torque, and the electric brake recovery torque is less than or equal to the actual electric brake recovery torque. The motor controller state is used to describe whether the motor controller is faulty, and can include normal and faulty. The hydraulic brake compensation value refers to the hydraulic braking force required when the brake controller compensates for the electric brake.

[0106] Specifically, the electric brake recovery torque is compared with the actual electric brake recovery torque to obtain a third comparison result. When the third comparison result is that the electric brake recovery torque is greater than the actual electric brake recovery torque, the motor controller state is faulty, and the hydraulic brake compensation value is determined according to the difference between the electric brake recovery torque and the actual electric brake recovery torque. When the third comparison result is that the electric brake recovery torque is less than or equal to the actual electric brake recovery torque, the motor controller state is normal, and the hydraulic brake compensation value is 0.

[0107] Furthermore, the hydraulic brake compensation value may be determined according to the following formula: hydraulic brake compensation value = (electric brake recovery torque - actual electric brake recovery torque) / braking efficiency factor.

[0108] Step S408: superimposing the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value as a target recovery request torque for energy recovery.

[0109] By obtaining the actual electric brake recovery torque, the current electric brake system's ability to recover energy can be accurately understood, which helps optimize the energy recovery strategy during braking. When the motor controller fails, hydraulic braking can be used to compensate for the missing braking force to ensure that the braking effect is stable and meets the driver's expectations, thereby enhancing safety and reliability during braking.

[0110] Example 5 Corresponding to the above method embodiment, the embodiment of the present invention provides an energy recovery control device based on electro-hydraulic distribution, Figure 5 A schematic diagram of the structure of an energy recovery control device based on electro-hydraulic distribution provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, the energy recovery control device based on electro-hydraulic distribution may include: The coasting data acquisition module 501 is used to acquire the coasting recovery torque of the vehicle when the vehicle meets the coasting energy recovery condition; A braking data acquisition module 502, used for acquiring the braking torque and torque recovery limit value of the vehicle when the vehicle meets the braking energy recovery condition; A first comparison module 503, configured to determine the electric braking recovery torque and the hydraulic braking force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value; A hydraulic brake monitoring module 504, used to obtain the actual hydraulic braking force of the vehicle; A second comparison module 505, configured to determine a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force; The target request torque determination module 506 is used to superimpose the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value to obtain a target recovery request torque for energy recovery.

[0111] An embodiment of the present invention provides an energy recovery control device based on electro-hydraulic distribution. When a vehicle meets the coasting energy recovery conditions, a coasting recovery torque is obtained. When the vehicle meets the braking energy recovery conditions, an electric braking recovery torque is obtained, thereby realizing the recovery of coasting energy and braking energy and improving the energy recovery rate. Meanwhile, during the braking energy recovery process, the actual hydraulic braking force of the vehicle is monitored. When the actual hydraulic braking force cannot be satisfied, electric braking is used for compensation in a timely manner, thereby ensuring braking safety and improving the flexibility of the braking relationship between electric braking and hydraulic braking. The coasting recovery torque, electric braking recovery torque and electric braking compensation value are collectively used as target recovery torques, thereby improving the energy recovery rate.

[0112] In some embodiments, the braking data acquisition module 502 is specifically configured to: A first limit value determining unit, used for determining a first torque limit value according to a maximum recovery current of the vehicle and a power consumption of electrical appliances of the vehicle; A second limit value determination unit, configured to determine a second torque limit value according to a rotation speed and an external characteristic curve of a motor in the vehicle; a third limit value determining unit, configured to determine a third torque limit value according to a vehicle speed of the vehicle; A limit parameter acquisition unit, used to acquire the electric brake limit and the rear axle tolerable torque limit of the vehicle; The torque recovery limit determination unit is used to determine the recovery torque limit of the vehicle according to the first torque limit, the second torque limit, the third torque limit, the electric brake limit, the rear axle tolerable torque limit and the coasting recovery torque.

[0113] In some embodiments, the torque recovery limit value determination unit is further configured to: The minimum value among the first torque limit, the second torque limit, the electric brake limit and the tolerable torque limit of the rear axle is used as the fourth torque limit; taking a difference between the fourth torque limit value and the coasting recovery torque as a fifth torque limit value; A minimum value between the third torque limit value and the fifth torque limit value is used as a regeneration torque limit value of the vehicle.

[0114] In some embodiments, the braking data acquisition module 502 is specifically configured to: A pedal displacement acquisition unit, used to acquire a brake pedal displacement of a vehicle; a pressure determination unit, used to query the corresponding pressure cylinder pressure according to the brake pedal displacement; The braking torque determination unit is used to determine the braking torque corresponding to the pedal displacement according to the pressure cylinder pressure, and use it as the braking torque of the vehicle.

[0115] In some embodiments, the first comparison module 503 is specifically configured to: When the braking torque of the vehicle is less than or equal to the torque recovery limit value, the braking torque is used as the electric braking recovery torque; When the braking torque for the vehicle is greater than the torque recovery limit value, the torque recovery limit value is used as the electric braking recovery torque, and the hydraulic braking force is determined according to the difference between the braking torque and the torque recovery limit value.

[0116] In some embodiments, the first comparison module 503 is further configured to: taking the difference between the braking torque and the torque recovery limit as the hydraulic recovery torque; The ratio of the hydraulic recovery torque to the braking efficiency factor is used as the hydraulic braking force.

[0117] In some embodiments, the second comparison module 505 is specifically configured to: When the hydraulic braking force is greater than the actual hydraulic braking force, determining that the brake controller state is a fault; determining the electric brake compensation value according to a difference between the hydraulic braking force and the actual hydraulic braking force; When the hydraulic braking force is less than or equal to the actual hydraulic braking force, it is determined that the brake controller state is normal, and the electric brake compensation value is 0.

[0118] In some embodiments, the apparatus further comprises: An electric brake monitoring module, used for obtaining the actual electric brake recovery torque of the vehicle; The third comparison module is used to determine the motor controller state and the hydraulic brake compensation value according to the third comparison result between the electric brake recovery torque and the actual electric brake recovery torque, and the hydraulic brake compensation value is used to perform hydraulic brake compensation on the actual electric brake recovery torque.

[0119] In some embodiments, the third comparison module is specifically used to: When the electric brake recovery torque is greater than the actual electric brake recovery torque, determining that the motor controller state is faulty; Determining the hydraulic brake compensation value according to the difference between the electric brake recovery torque and the actual electric brake recovery torque; When the electric brake recovery torque is less than or equal to the actual electric brake recovery torque, it is determined that the motor controller state is normal, and the hydraulic brake compensation value is 0.

[0120] In some embodiments, the apparatus further comprises: An alarm monitoring module, used to obtain danger alarm information of the vehicle; The exit compensation module is used to determine the exit compensation value according to the difference between the braking torque and the exit torque when receiving the danger warning information, so as to perform hydraulic braking compensation on the electric braking exit process.

[0121] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0122] Example 6 The embodiment of the present invention also provides an electronic device for executing the above energy recovery control method based on electric-hydraulic distribution; see Figure 6 A structural schematic diagram of an electronic device is shown, which includes a memory 600 and a processor 601, wherein the memory 600 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 601 to implement the above-mentioned energy recovery control method based on electro-hydraulic distribution.

[0123] Further, Figure 6The electronic device shown further includes a bus 602 and a communication interface 603 , and the processor 601 , the communication interface 603 and the memory 600 are connected via the bus 602 .

[0124] The memory 600 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 603 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 602 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0125] The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 601. The above processor 601 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 600, and the processor 601 reads the information in the memory 600 and completes the steps of the method of the above embodiment in combination with its hardware.

[0126] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned energy recovery control method based on electro-hydraulic distribution. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0127] The computer program product for performing an energy recovery control method based on electro-hydraulic distribution provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0128] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0129] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0131] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0132] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that can be executed by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store program codes.

[0133] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An energy recovery control method based on electro-hydraulic distribution, characterized in that: include: When the vehicle meets the coasting energy recovery condition, obtaining the coasting recovery torque of the vehicle; When the vehicle meets the braking energy recovery condition, obtaining the braking torque and the torque recovery limit value of the vehicle; determining an electric braking recovery torque and a hydraulic braking force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value; Acquiring actual hydraulic braking force of the vehicle; determining a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force; The coasting recovery torque, the electric brake recovery torque and the electric brake compensation value are superimposed as a target recovery request torque for energy recovery.

2. The method according to claim 1, characterized in that The obtaining of the torque recovery limit value of the vehicle includes: Determining a first torque limit value according to a maximum regenerative current of the vehicle and power consumption of electrical appliances of the entire vehicle; Determining a second torque limit value according to a rotation speed and an external characteristic curve of a motor in the vehicle; determining a third torque limit value according to a speed of the vehicle; Obtaining an electric brake limit value and a rear axle tolerable torque limit value of the vehicle; A recovery torque limit of the vehicle is determined according to the first torque limit, the second torque limit, the third torque limit, the electric brake limit, the rear axle tolerable torque limit, and the coasting recovery torque.

3. The method according to claim 2, characterized in that The determining the recovery torque limit of the vehicle according to the first torque limit, the second torque limit, the third torque limit, the electric brake limit, the rear axle tolerable torque limit and the coasting recovery torque comprises: The minimum value among the first torque limit, the second torque limit, the electric brake limit and the tolerable torque limit of the rear axle is used as the fourth torque limit; taking a difference between the fourth torque limit value and the coasting recovery torque as a fifth torque limit value; A minimum value between the third torque limit value and the fifth torque limit value is used as a regeneration torque limit value of the vehicle.

4. The method according to claim 1, characterized in that: The obtaining the braking torque of the vehicle comprises: Obtain the brake pedal displacement of the vehicle; According to the brake pedal displacement, query the corresponding booster cylinder pressure; The braking torque corresponding to the pedal displacement is determined according to the pressure cylinder pressure and is used as the braking torque of the vehicle.

5. The method according to claim 1, characterized in that The determining of the electric braking recovery torque and the hydraulic braking force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value comprises: When the braking torque of the vehicle is less than or equal to the torque recovery limit value, the braking torque is used as the electric braking recovery torque; When the braking torque of the vehicle is greater than the torque recovery limit value, the torque recovery limit value is used as the electric braking recovery torque, and the hydraulic braking force is determined according to the difference between the braking torque and the torque recovery limit value.

6. The method according to claim 5, characterized in that The determining the hydraulic braking force according to the difference between the braking torque and the torque recovery limit value comprises: taking the difference between the braking torque and the torque recovery limit as the hydraulic recovery torque; The ratio of the hydraulic recovery torque to the braking efficiency factor is used as the hydraulic braking force.

7. The method according to claim 1, characterized in that The step of determining a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force comprises: When the hydraulic braking force is greater than the actual hydraulic braking force, determining that the brake controller state is a fault; determining the electric brake compensation value according to a difference between the hydraulic braking force and the actual hydraulic braking force; When the hydraulic braking force is less than or equal to the actual hydraulic braking force, it is determined that the brake controller state is normal, and the electric brake compensation value is 0.

8. The method according to claim 1, characterized in that After obtaining the actual hydraulic braking force of the vehicle, the method further includes: Acquiring actual electric braking recovery torque of the vehicle; According to a third comparison result between the electric brake recovery torque and the actual electric brake recovery torque, a motor controller state and a hydraulic brake compensation value are determined, and the hydraulic brake compensation value is used to perform hydraulic brake compensation on the actual electric brake recovery torque.

9. The method according to claim 8, characterized in that The determining of the motor controller state and the hydraulic brake compensation value according to the third comparison result between the electric brake recovery torque and the actual electric brake recovery torque comprises: When the electric brake recovery torque is greater than the actual electric brake recovery torque, determining that the motor controller state is faulty; Determining the hydraulic brake compensation value according to the difference between the electric brake recovery torque and the actual electric brake recovery torque; When the electric brake recovery torque is less than or equal to the actual electric brake recovery torque, it is determined that the motor controller state is normal, and the hydraulic brake compensation value is 0.

10. The method according to claim 1, characterized in that After obtaining the actual hydraulic braking force of the vehicle, the method further includes: Obtaining danger warning information of the vehicle; When the danger warning information is received, an exit compensation value is determined according to the difference between the braking torque and the exit torque, so as to perform hydraulic braking compensation on the electric braking exit process.

11. An energy recovery control device based on electro-hydraulic distribution, characterized in that: include: A coasting data acquisition module, used to acquire the coasting recovery torque of the vehicle when the vehicle meets the coasting energy recovery conditions; A braking data acquisition module, used for acquiring the braking torque and torque recovery limit value of the vehicle when the vehicle meets the braking energy recovery condition; a first comparison module, configured to determine the electric brake recovery torque and the hydraulic brake force according to a first comparison result between the braking torque of the vehicle and the torque recovery limit value; A hydraulic brake monitoring module, used to obtain the actual hydraulic braking force of the vehicle; a second comparison module, configured to determine a brake controller state and an electric brake compensation value according to a second comparison result between the hydraulic braking force and the actual hydraulic braking force; The target request torque determination module is used to superimpose the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value as a target recovery request torque for energy recovery.

12. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the energy recovery control method based on electric-hydraulic distribution according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the energy recovery control method based on electric-hydraulic distribution as described in any one of claims 1 to 10.

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