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

Abstract

The application provides an energy recovery control method and device based on electro-hydraulic distribution, equipment and medium, and relates to the technical field of vehicle control, and comprises the following steps: obtaining the coasting recovery torque of a vehicle when the vehicle meets the coasting energy recovery condition; obtaining the braking torque and the torque recovery limit value of the vehicle when the vehicle meets the braking energy recovery condition; determining the electric braking recovery torque and the hydraulic braking force according to the first comparison result of the braking torque and the torque recovery limit value of the vehicle; obtaining the actual hydraulic braking force of the vehicle; determining the braking controller state and the electric braking compensation value according to the second comparison result of the hydraulic braking force and the actual hydraulic braking force; and superimposing the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value to obtain the target recovery request torque, which is used for energy recovery. The technical scheme of the embodiment of the application can flexibly handle the braking relationship between the electric braking and the hydraulic braking, ensure the safety of braking and improve the recovery rate of braking energy.

Description

TECHNICAL FIELD

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

[0002] With the vigorous development of domestic new energy vehicles, the energy recovery of new energy vehicles has become a key function of the whole vehicle.

[0003] At present, the energy recovery method used by new energy vehicles mainly includes two kinds: the first kind is that the vehicle controller requests the motor to recover the torque according to the brake pedal opening degree and the vehicle speed, and the brake system also brakes at the same time, and the two brakes are superimposed, but this scheme cannot meet the requirements of the driver for the pedal feeling, and the energy of the brake system is dissipated as heat; the second scheme is based on the current line control brake dominated energy recovery system scheme, but in this scheme, the brake cost is high, and the vehicle manufacturer cannot control the energy recovery function and the specific execution effect. SUMMARY

[0004] Therefore, the purpose of the present application is to provide an energy recovery control method and device based on electro-hydraulic distribution, equipment and medium, which can flexibly handle the braking relationship between electric braking and hydraulic braking through sliding energy recovery, braking energy recovery and electric braking compensation, ensure the safety of braking, and improve the recovery rate of braking energy.

[0005] In the first aspect, the present application provides an energy recovery control method based on electro-hydraulic distribution:

[0006] When the vehicle meets the sliding energy recovery condition, the sliding recovery torque of the vehicle is obtained;

[0007] When the vehicle meets the braking energy recovery condition, the braking torque and the torque recovery limit value of the vehicle are obtained;

[0008] 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;

[0009] The actual hydraulic braking force of the vehicle is obtained;

[0010] According to the second comparison result of the hydraulic braking force and the actual hydraulic braking force, the brake controller state and the electric braking compensation value are determined;

[0011] The sliding recovery torque, the electric braking recovery torque and the electric braking compensation value are superimposed as the target recovery request torque for energy recovery.

[0012] In the preferred embodiment of the present application, the torque recovery limit value of the vehicle is obtained by:

[0013] The first torque limit value is determined according to the maximum recovery current of the vehicle and the power consumption of the whole vehicle;

[0014] The second torque limit value is determined according to the speed of the motor in the vehicle and the external characteristic curve;

[0015] The third torque limit value is determined according to the speed of the vehicle;

[0016] The electric braking limit value and the rear axle torque limit value of the vehicle are obtained;

[0017] The recovery torque limit value of the vehicle is determined according to the first torque limit value, the second torque limit value, the third torque limit value, the electric braking limit value, the rear axle torque limit value and the coasting recovery torque.

[0018] In the preferred embodiment of the present application, the recovery torque limit value of the vehicle is determined according to the first torque limit value, the second torque limit value, the third torque limit value, the electric braking limit value, the rear axle torque limit value and the coasting recovery torque, comprising:

[0019] The minimum value among the first torque limit value, the second torque limit value, the electric braking limit value and the rear axle torque limit value is taken as the fourth torque limit value;

[0020] The difference between the fourth torque limit value and the coasting recovery torque is taken as the fifth torque limit value;

[0021] The minimum value among the third torque limit value and the fifth torque limit value is taken as the recovery torque limit value of the vehicle.

[0022] In the preferred embodiment of the present application, the braking torque of the vehicle is obtained by:

[0023] The displacement of the brake pedal of the vehicle is obtained;

[0024] The corresponding pressure cylinder pressure is queried according to the displacement of the brake pedal;

[0025] The braking torque corresponding to the displacement of the brake pedal is determined according to the pressure cylinder pressure, and taken as the braking torque of the vehicle.

[0026] In the preferred embodiment of the present application, the electric braking recovery torque and the hydraulic braking force are determined according to the first comparison result of the braking torque of the vehicle and the torque recovery limit value, comprising:

[0027] when the brake torque of the vehicle is less than or equal to the torque recovery limit value, the brake torque is taken as the electric brake recovery torque;

[0028] when the brake torque of the vehicle is greater than the torque recovery limit value, the torque recovery limit value is taken as the electric brake recovery torque, and a hydraulic brake force is determined according to a difference between the brake torque and the torque recovery limit value.

[0029] In a preferred embodiment of the present application, the determination of the hydraulic brake force according to the difference between the brake torque and the torque recovery limit value comprises:

[0030] the difference between the brake torque and the torque recovery limit value is taken as a hydraulic recovery torque;

[0031] a ratio of the hydraulic recovery torque to a brake efficiency factor is taken as the hydraulic brake force.

[0032] In a preferred embodiment of the present application, the determination of the brake controller state and the electric brake compensation value according to the third comparison result of the hydraulic brake force and the actual hydraulic brake force comprises:

[0033] when the hydraulic brake force is greater than the actual hydraulic brake force, the brake controller state is determined as faulty;

[0034] the electric brake compensation value is determined according to a difference between the hydraulic brake force and the actual hydraulic brake force;

[0035] when the hydraulic brake force is less than or equal to the actual hydraulic brake force, the brake controller state is determined as normal, and the electric brake compensation value is 0.

[0036] In a preferred embodiment of the present application, after the actual hydraulic brake force of the vehicle is obtained, the method further comprises:

[0037] an actual electric brake recovery torque of the vehicle is obtained;

[0038] a motor controller state and a hydraulic brake compensation value are determined according to a third comparison result of the electric brake recovery torque and the actual electric brake recovery torque, the hydraulic brake compensation value being used for hydraulic brake compensation on the actual electric brake recovery torque.

[0039] In a preferred embodiment of the present application, the determination of 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 comprises:

[0040] when the electric brake recovery torque is greater than the actual electric brake recovery torque, the motor controller state is determined as faulty;

[0041] determining the hydraulic brake compensation value according to a difference between the electric brake recovery torque and the actual electric brake recovery torque;

[0042] determining that the motor controller state is normal and the hydraulic brake compensation value is 0 when the electric brake recovery torque is less than or equal to the actual electric brake recovery torque.

[0043] In the preferred embodiment of the present application, after the actual hydraulic brake force of the vehicle is obtained, the following is further included:

[0044] obtaining danger warning information of the vehicle;

[0045] determining an exit compensation value according to a difference between the brake torque and the exit torque, for hydraulic brake compensation of the electric brake exit process, when the danger warning information is received.

[0046] In a second aspect, the embodiments of the present application further provide an energy recovery control device based on electric-hydraulic distribution, comprising:

[0047] a coasting data obtaining module, configured to obtain a coasting recovery torque of a vehicle when the vehicle meets a coasting energy recovery condition;

[0048] a brake data obtaining module, configured to obtain a brake torque and a torque recovery limit value of the vehicle when the vehicle meets a brake energy recovery condition;

[0049] a first comparison module, configured to determine an electric brake recovery torque and a hydraulic brake force according to a first comparison result of the brake torque of the vehicle and the torque recovery limit value;

[0050] a hydraulic brake monitoring module, configured to obtain an actual hydraulic brake force of the vehicle;

[0051] a second comparison module, configured to determine a brake controller state and an electric brake compensation value according to a second comparison result of the hydraulic brake force and the actual hydraulic brake force;

[0052] a target request torque determining module, configured 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.

[0053] In a third aspect, the embodiments of the present application further provide an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions capable of being 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.

[0054] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions, when invoked and executed by a processor, cause the processor to implement the energy recovery control method based on electro-hydraulic distribution of the first aspect.

[0055] The embodiments of the present application bring the following beneficial effects:

[0056] The embodiments of the present application provide an energy recovery control method based on electro-hydraulic distribution, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque is obtained, when the vehicle meets the braking energy recovery condition, the electric braking recovery torque is obtained, the recovery of the coasting energy and the braking energy is realized, the energy recovery rate is improved, meanwhile, in the process of recovering the braking energy, the actual hydraulic braking force of the vehicle is monitored, when the actual hydraulic braking force cannot be met, the electric braking is compensated in time, the safety of braking is ensured, the flexibility of the braking relationship between the electric braking and the hydraulic braking is improved, the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value are taken as the target recovery torque together, and the recovery rate of energy recovery is improved.

[0057] Other features and advantages of the present application will be described in the following description, or can be learned from the description, or can be determined without any doubt, or can be known by implementing the above-mentioned technologies of the present application.

[0058] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without any creative labor on the basis of these drawings.

[0060] Figure 1a A flow chart of an energy recovery control method based on electro-hydraulic distribution provided by the embodiments of the present application is provided.

[0061] Figure 1b A structural schematic diagram of an energy recovery control system based on electro-hydraulic distribution provided by the embodiments of the present application is provided.

[0062] Figure 2 A flow chart of another energy recovery control method based on electro-hydraulic distribution provided by the embodiments of the present application is provided.

[0063] Figure 3 A flow chart of another energy recovery control method based on electro-hydraulic distribution provided for an embodiment of the present application;

[0064] Figure 4 A flow chart of another energy recovery control method based on electro-hydraulic distribution provided for an embodiment of the present application;

[0065] Figure 5 A structural schematic diagram of an energy recovery control device based on electro-hydraulic distribution provided for an embodiment of the present application;

[0066] Figure 6 A structural schematic diagram of an electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0067] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described below in detail with reference to the drawings, obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0068] With the vigorous development of domestic new energy vehicles, the energy recovery of new energy vehicles has become a key function of the whole vehicle. In braking, the motor is used to recover as much braking energy as possible to increase the endurance and reduce energy loss in braking. At present, the regulations require that the motor recovery in braking cannot exceed 0.3g. How to achieve the maximum energy recovery in braking while meeting the braking requirements has become the focus of current research.

[0069] The current electric VAN (electric logistics vehicle) is roughly divided into two energy recovery schemes. The first scheme 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 systems are superimposed, but this scheme cannot meet the driver's pedal feeling requirements, and the energy of the brake system is dissipated as heat. The second scheme is based on the current line control braking dominant energy recovery system scheme, but the braking cost of this scheme is high, and the vehicle manufacturer cannot control the energy recovery function and the specific execution effect.

[0070] In summary, a new scheme needs to be developed to meet the requirements of electric braking regulations and recover as much energy as possible, and to detect the execution of each energy recovery system in real time and respond in a timely manner to the substandard or unexpected situations that occur during energy recovery.

[0071] Based on this, the energy recovery control method based on electro-hydraulic distribution provided by the embodiment of the application can realize recovery of coasting energy and braking energy, and at the same time, in the process of recovering the braking energy, the actual hydraulic braking force of the vehicle is monitored, and when the actual hydraulic braking force cannot be met, the electric braking is compensated in time to ensure the safety of braking and improve the flexibility of the braking relationship between the electric braking and the hydraulic braking. The coasting recovery torque, the electric braking recovery torque and the electric braking compensation value are taken as the target recovery torque together, and the recovery rate of energy recovery is improved.

[0072] To facilitate the understanding of the embodiment, first, the energy recovery control method based on electro-hydraulic distribution disclosed by the embodiment of the application is introduced in detail.

[0073] Embodiment 1

[0074] The embodiment of the application provides an energy recovery control method based on electro-hydraulic distribution, Figure 1a The flow chart of the energy recovery control method based on electro-hydraulic distribution provided by the embodiment of the application is shown in the figure. Figure 1b The structure diagram of the energy recovery control system based on electro-hydraulic distribution provided by the embodiment of the application is shown in the figure. Figure 1b As shown in the figure, the system comprises a vehicle controller (VCU), a motor controller (MCU), a battery management system (BMS), a vehicle body stability controller (ESC), a brake controller (EHB), a brake pedal, an accelerator pedal and a gear shifter. Among them, the VCU communicates with the MCU, the BMS, the ESC, the EHB and the gear shifter through the CAN network, wherein CAN_H_500K refers to the high level signal line of the CAN bus, has a communication capacity of 500Kbps (kilobits per second) baud rate, and CAN_L_500K refers to the low level signal line of the CAN bus, has a communication capacity of 500Kbps (kilobits per second) baud rate. The VCU and the brake pedal and the accelerator pedal are connected through a hard wire. The energy recovery control method based on electro-hydraulic distribution provided by the embodiment of the application is applied to the vehicle controller VCU.

[0075] As shown in the figure, Figure 1a The energy recovery control method based on electro-hydraulic distribution can comprise the following steps:

[0076] Step S101, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque of the vehicle is obtained.

[0077] The coasting energy recovery condition refers to a judgment condition for whether to recover the coasting energy of the vehicle when the vehicle is in a coasting state. For example, the coasting energy recovery condition at least includes: the vehicle is in a high-voltage state; the vehicle has no third serious fault; the vehicle speed reaches an energy recovery opening threshold; and the brake pedal and the accelerator pedal are in a released state. The high-voltage state is used to describe that the vehicle has been powered on. The third serious fault can be determined by table lookup. The energy recovery opening threshold can be set according to actual conditions. Whether the brake pedal is in a released state can be detected by a voltage sensor and a current sensor of the brake pedal. Whether the accelerator pedal is in a released state can be detected by a voltage sensor and a current sensor of the accelerator pedal. The coasting recovery torque refers to a torque value of the motor that can recover energy when the vehicle is in a coasting state.

[0078] Specifically, when the vehicle meets all the conditions of the coasting energy recovery condition, it is determined that the vehicle meets the coasting energy recovery condition. At this time, the coasting recovery torque of the vehicle can be queried by table lookup. For example, the coasting recovery torque corresponding to the current vehicle speed can be queried according to the current vehicle speed.

[0079] In step S102, when the vehicle meets the braking energy recovery condition, the braking torque and the torque recovery limit value of the vehicle are obtained.

[0080] The braking energy recovery condition refers to a judgment condition for whether to recover the braking energy of the vehicle when the vehicle is in a braking state. For example, the braking energy recovery condition at least includes: the vehicle is in a high-voltage state; the vehicle has no third serious fault; the steering wheel angle is less than 180 degrees; the vehicle speed reaches an energy recovery opening threshold; the actual gear is in D (forward) gear; and the accelerator pedal is not depressed. The braking torque is used to describe the torque required during braking of the vehicle. The torque recovery limit value is used to describe the maximum torque that can be recovered by the motor during energy recovery. The energy recovery includes coasting energy recovery and braking energy recovery.

[0081] Specifically, when the vehicle meets all the conditions of the braking energy recovery condition, it is determined that the vehicle meets the braking energy recovery condition. At this time, the braking torque and the torque recovery limit value of the vehicle can be queried by table lookup. 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, the braking torque corresponding to the pedal displacement can be queried according to the pre-calibrated conversion relationship between the pedal displacement and the braking torque, and the torque recovery limit value of the vehicle can be queried according to the speed of the motor in the vehicle by using the relationship between the speed and the torque.

[0082] When the vehicle does not satisfy any one of the brake energy recovery conditions, it is determined that the vehicle does not satisfy the brake energy recovery conditions, at this time the electric brake recovery torque is determined as 0, according to the pre-calibrated conversion relationship between the pedal displacement and the hydraulic brake force, the hydraulic brake force corresponding to the pedal displacement is inquired.

[0083] In step S103, according to the first comparison result of the brake torque and the torque recovery limit value of the vehicle, the electric brake recovery torque and the hydraulic brake force are determined.

[0084] The first comparison result includes that the brake torque is greater than the torque recovery limit value, and the brake torque is less than or equal to the torque recovery limit value. The electric brake recovery torque refers to the torque generated by the motor during deceleration. The hydraulic brake force refers to the brake force generated by the brake controller during deceleration.

[0085] Specifically, the brake torque and the torque recovery limit value are compared to obtain the first comparison result. When the first comparison result is that the brake torque is greater than the torque recovery limit value, the torque recovery limit value is taken as the electric brake recovery torque, the difference between the brake torque and the torque recovery limit value is determined by table lookup, and the hydraulic brake force corresponding to the difference is inquired. When the first comparison result is that the brake torque is less than or equal to the torque recovery limit value, the brake torque is taken as the electric brake recovery torque, and the hydraulic brake force is 0.

[0086] In step S104, the actual hydraulic brake force of the vehicle is obtained.

[0087] The actual hydraulic brake force refers to the brake force actually generated by the brake controller during deceleration of the vehicle. Specifically, the actual hydraulic brake force can be collected in real time by a sensor.

[0088] In step S105, according to the second comparison result of the hydraulic brake force and the actual hydraulic brake force, the brake controller state and the electric brake compensation value are determined.

[0089] The second comparison result includes that the hydraulic brake force is greater than the actual hydraulic brake force, and the hydraulic brake force is less than or equal to the actual hydraulic brake force. The brake controller state is used to describe whether the brake controller is faulty, which can include normal and fault. The electric brake compensation value refers to the torque required when the hydraulic brake force is compensated by the motor control system.

[0090] Specifically, when the hydraulic brake force is greater than the actual hydraulic brake force, it is determined that the brake controller state is faulty; according to the difference between the hydraulic brake force and the actual hydraulic brake force, the electric brake compensation value is determined; when the hydraulic brake force is less than or equal to the actual hydraulic brake force, it is determined that the brake controller state is normal, and the electric brake compensation value is 0.

[0091] That is, the hydraulic braking force and the actual hydraulic braking force are compared to obtain a second comparison result. When the second comparison result is 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 failure, and the electric braking needs 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 taken as the electric braking compensation value. When the second comparison result is 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 the electric braking does not need to compensate for the hydraulic braking. The electric braking compensation value is determined as 0.

[0092] In step S106, the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value are superimposed as a target recovery request torque for energy recovery.

[0093] The target recovery request torque is used to describe the total value of the electric braking actually recovered in the energy recovery process of the vehicle. Specifically, the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value are added to obtain the target recovery request torque.

[0094] The embodiment of the present application provides an energy recovery control method based on electric-hydraulic distribution. When the vehicle meets the coasting energy recovery condition, the coasting recovery torque is obtained. When the vehicle meets the braking energy recovery condition, the electric braking recovery torque is obtained. The coasting energy and the braking energy are recovered, the energy recovery rate is improved, the actual hydraulic braking force of the vehicle is monitored in the braking energy recovery process, the electric braking is compensated in time when the actual hydraulic braking force cannot meet the requirement, the safety of braking is ensured, the flexibility of the braking relationship between the electric braking and the hydraulic braking is improved, the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value are taken as the target recovery torque together, and the recovery rate of the energy recovery is improved.

[0095] Embodiment 2

[0096] The embodiment of the present application also provides another energy recovery control method based on electric-hydraulic distribution. The method is implemented based on the above-mentioned embodiment method. The method mainly describes the specific implementation manner of obtaining the braking torque and the torque recovery limit value of the vehicle.

[0097] Figure 2 The flowchart of another energy recovery control method based on electric-hydraulic distribution provided by the embodiment of the present application is shown in Figure 2 The energy recovery control method based on electric-hydraulic distribution can include the following steps.

[0098] In step S201, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque of the vehicle is obtained.

[0099] Step S202, when the vehicle meets the braking energy recovery condition, the braking torque of the vehicle and the torque recovery limit value are obtained.

[0100] Specifically, the torque recovery limit value of the vehicle can be obtained through steps A1-A5.

[0101] Step A1, according to the maximum recovery current of the vehicle and the power consumption of the whole vehicle electrical appliances, a first torque limit value is determined.

[0102] The maximum recovery current refers to the maximum current of the motor during 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 in the working state. Specifically, the first torque limit value can be determined by the following formula: first torque limit value = whole vehicle electrical appliance consumption power * 9550 / maximum recovery current.

[0103] Step A2, according to the speed of the motor in the vehicle and the external characteristic curve, a second torque limit value is determined.

[0104] The external characteristic curve is a curve describing the maximum torque that the motor can output at different speeds. Specifically, the whole vehicle controller can query the maximum torque corresponding to the speed on the external characteristic curve according to the speed of the motor, and take it as the second torque limit value.

[0105] Step A3, according to the speed of the vehicle, a third torque limit value is determined.

[0106] Specifically, the third torque limit value can be calculated by the following formula: Wherein, a is the torque limiting coefficient; V is the vehicle speed; Vexit is the energy recovery exit speed; b is the energy recovery limit value offset, a, b, Vexit can be set according to the actual situation.

[0107] Step A4, the electric braking limit value and the rear axle bearable torque limit value of the vehicle are obtained.

[0108] The electric braking limit value refers to the maximum torque value that the electric braking can recover during the energy recovery process according to the regulations. That is, the electric braking can recover the torque under 0.3g longitudinal acceleration, wherein g refers to the acceleration of gravity. Specifically, the electric braking limit value can be calculated according to the following two formulas: T = FR, F = Ma; Wherein, T is the electric braking limit value; F is the force; R is the braking radius; M is the mass of the vehicle; a is the longitudinal acceleration, in this embodiment, a = 0.3g.

[0109] The rear axle bearable torque limit value refers to the maximum torque value that the rear axle of the vehicle can tolerate, which can be obtained by looking up the table according to the actual situation of the vehicle.

[0110] Step A5, determining the recovery torque limit value of the vehicle according to the first torque limit value, the second torque limit value, the third torque limit value, the electric braking limit value, the rear axle bearable torque limit value and the coasting recovery torque.

[0111] The minimum value can be selected from the first torque limit value, the second torque limit value, the third torque limit value, the electric braking limit value and the rear axle bearable torque limit value, and the difference between the minimum value and the coasting recovery torque is taken as the recovery torque limit value of the vehicle.

[0112] In another implementation, determining the recovery torque limit value of the vehicle according to the first torque limit value, the second torque limit value, the third torque limit value, the electric braking limit value, the rear axle bearable torque limit value and the coasting recovery torque includes: taking the minimum value of the first torque limit value, the second torque limit value, the electric braking limit value and the rear axle bearable torque limit value as a fourth torque limit value; taking the difference between the fourth torque limit value and the coasting recovery torque as a fifth torque limit value; and taking the minimum value of the third torque limit value and the fifth torque limit value as the recovery torque limit value of the vehicle.

[0113] The recovery torque limit value of the vehicle is obtained by comprehensively considering the torque limit values obtained in various ways, so that the torque recovery limit value of the vehicle under different working conditions can be accurately calculated, and it is ensured that the recovery torque neither damages the vehicle parts (such as the motor, the rear axle, etc.) due to being too large, nor reduces the energy recovery efficiency due to being too small, thereby improving the overall safety of vehicle driving. The scheme also considers the coasting recovery torque, which is further taken into account in the calculation of the torque recovery limit value, thereby further improving the recovery rate of energy recovery and prolonging the cruising range of the vehicle.

[0114] Specifically, the braking torque of the vehicle can be obtained through steps B1-B3.

[0115] Step B1, obtaining the brake pedal displacement of the vehicle.

[0116] 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 arranged 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.

[0117] Step B2, querying the corresponding pressure cylinder pressure according to the brake pedal displacement.

[0118] The vehicle controller calibrates the conversion relationship between the pedal displacement and the pedal force, and the relationship between the pedal force and the vehicle deceleration, and calibrates the conversion relationship between the pedal displacement and the pressure cylinder pressure. The deceleration and the pressure cylinder pressure are in a linear relationship.

[0119] Specifically, the vehicle controller can query the brake cylinder pressure corresponding to the brake pedal displacement according to the brake pedal displacement transmitted by the brake controller.

[0120] Step B3, determining the brake torque corresponding to the brake pedal displacement according to the brake cylinder pressure, and taking the brake torque as the brake torque of the vehicle.

[0121] Specifically, the product of the brake cylinder pressure and the brake efficiency factor is taken as the brake torque corresponding to the brake pedal displacement, that is, the brake torque.

[0122] The vehicle controller calibrates the conversion relationship between the brake pedal displacement and the brake cylinder pressure according to the relationship between the brake pedal displacement and the brake pedal force, and the relationship between the brake pedal force and the vehicle deceleration, which can meet the requirements of the driver for the brake pedal feeling, and solve the problem that the prior art cannot meet the requirements of the driver for the brake pedal feeling. At the same time, the brake cylinder pressure corresponding to the brake pedal displacement is queried according to the brake pedal displacement, and then the brake torque is determined, which reduces the error of the intermediate link, improves the response accuracy of the brake system to the input of the driver, and makes the brake behavior of the vehicle more consistent with the expectations of the driver.

[0123] Step S203, determining the electric brake recovery torque and the hydraulic brake force according to the first comparison result of the brake torque of the vehicle and the torque recovery limit value.

[0124] Step S204, acquiring the actual hydraulic brake force of the vehicle.

[0125] Step S205, determining the brake controller state and the electric brake compensation value according to the second comparison result of the hydraulic brake force and the actual hydraulic brake force.

[0126] Step S206, acquiring the danger warning information of the vehicle.

[0127] The danger warning information refers to the warning 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 danger warning information of the vehicle in real time.

[0128] Step S207, in the case of receiving the danger warning information, determining the exit compensation value according to the difference between the brake torque and the exit torque, for hydraulic brake compensation to the electric brake exit process.

[0129] The exit compensation value refers to the hydraulic braking force required to compensate for the electric braking when the electric braking process is exited. The exit torque refers to the electric braking recovery torque in the electric braking exit process. It can be understood that, in the case of receiving the danger warning information, the VCU will quickly reduce the electric braking recovery torque requested by the VCU to 0 at a fixed large slope, and the slope is a calibration value which can be calibrated in practice. The exit torque can be obtained by table lookup.

[0130] Specifically, in the case of receiving the danger warning information, it is indicated that a situation threatening the driving safety of the vehicle occurs, at which time the electric braking needs to be exited, and the hydraulic braking is used to compensate for the electric braking. The exit compensation value can be determined according to the following formula: exit compensation value = (braking torque - exit torque) / braking efficiency factor.

[0131] Step S208, superimposing the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value as a target recovery request torque for energy recovery.

[0132] In the case of receiving the danger warning information, the hydraulic braking compensation for the electric braking exit process is realized, thereby improving the braking safety, optimizing the braking smoothness, enhancing the system flexibility, reducing the system response time, and improving the braking energy efficiency.

[0133] Embodiment 3

[0134] The embodiment of the present application also provides another energy recovery control method based on electric-hydraulic distribution; the method is realized on the basis of the above-mentioned embodiment method; the method mainly describes the specific implementation mode of the electric braking recovery torque and the hydraulic braking force according to the first comparison result of the braking torque of the vehicle and the torque recovery limit value.

[0135] Figure 3 The flowchart of another energy recovery control method based on electric-hydraulic distribution provided by the embodiment of the present application is shown in Figure 3 The energy recovery control method based on electric-hydraulic distribution can include the following steps:

[0136] Step S301, when the vehicle meets the coasting energy recovery condition, obtaining the coasting recovery torque of the vehicle.

[0137] Step S302, when the vehicle meets the braking energy recovery condition, obtaining the braking torque and the torque recovery limit value of the vehicle.

[0138] Step S303, when the braking torque of the vehicle is less than or equal to the torque recovery limit value, taking the braking torque as the electric braking recovery torque.

[0139] When the first comparison result is that the braking torque is less than or equal to the torque recovery limit value, the braking torque is taken as the electric braking recovery torque, and the hydraulic braking force is 0, so that the electric braking is relied on entirely within the electric braking capability range.

[0140] When the braking torque of the vehicle is greater than the torque recovery limit value, the torque recovery limit value is taken as the electric braking recovery torque, the difference between the braking torque and the torque recovery limit value is taken as the hydraulic recovery torque, and the ratio of the hydraulic recovery torque to the braking efficiency factor is taken as the hydraulic braking force, wherein the hydraulic recovery torque is used to describe the torque that needs to be provided by the hydraulic braking in the energy recovery process.

[0141] When the first comparison result is that the braking torque is less than or equal to the torque recovery limit value, the braking torque is taken as the electric braking recovery torque, and the hydraulic braking force is 0, so that the electric braking is relied on entirely within the electric braking capability range.

[0142] In step S305, the actual hydraulic braking force of the vehicle is obtained.

[0143] In step S306, a second comparison result of the hydraulic braking force and the actual hydraulic braking force is used to determine the braking controller state and the electric braking compensation value.

[0144] In step S307, the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value are superimposed to obtain a target recovery request torque, which is used for energy recovery.

[0145] The energy recovery control method based on the electric-hydraulic distribution provided by the embodiment of the present application realizes the distribution of the electric braking and the hydraulic braking through the torque recovery limit value, relies on the electric braking entirely within the electric braking capability range, maximizes the energy recovery, and improves the recovery rate of the energy recovery.

[0146] Embodiment 4

[0147] The embodiment of the present application also provides another energy recovery control method based on electric-hydraulic distribution; the method is realized on the basis of the above-mentioned embodiment method; and the method mainly describes the specific implementation mode after the actual hydraulic braking force of the vehicle is obtained.

[0148] Figure 4 The flowchart of another energy recovery control method based on electric-hydraulic distribution provided by the embodiment of the present application is shown in Figure 4 The energy recovery control method based on electric-hydraulic distribution can include the following steps:

[0149] In step S401, when the vehicle meets the coasting energy recovery condition, the coasting recovery torque of the vehicle is obtained.

[0150] Step S402, when the vehicle meets the braking energy recovery condition, acquiring the braking torque of the vehicle and the torque recovery limit value.

[0151] Step S403, according to the first comparison result of the braking torque of the vehicle and the torque recovery limit value, determining the electric braking recovery torque and the hydraulic braking force.

[0152] Step S404, acquiring the actual hydraulic braking force of the vehicle.

[0153] Step S405, according to the second comparison result of the hydraulic braking force and the actual hydraulic braking force, determining the braking controller state and the electric braking compensation value.

[0154] Step S406, acquiring the actual electric braking recovery torque of the vehicle.

[0155] The actual electric braking recovery torque refers to the braking force actually generated by the motor control system during the deceleration process of the vehicle. Specifically, the actual electric braking recovery torque can be collected in real time by a sensor.

[0156] Step S407, according to the third comparison result of the electric braking recovery torque and the actual electric braking recovery torque, determining the motor controller state and the hydraulic braking compensation value, which is used for hydraulic braking compensation of the actual electric braking recovery torque.

[0157] The third comparison result includes that the electric braking recovery torque is greater than the actual electric braking recovery torque, and that the electric braking recovery torque is less than or equal to the actual electric braking recovery torque. The motor controller state is used to describe whether the motor controller is faulty, and can include normal and fault. The hydraulic braking compensation value refers to the hydraulic braking force required when the electric braking is compensated by the braking controller.

[0158] Specifically, the electric braking recovery torque and the actual electric braking recovery torque are compared to obtain the third comparison result. When the third comparison result is that the electric braking recovery torque is greater than the actual electric braking recovery torque, the motor controller state is fault, and the hydraulic braking compensation value is determined according to the difference between the electric braking recovery torque and the actual electric braking recovery torque. When the third comparison result is that the electric braking recovery torque is less than or equal to the actual electric braking recovery torque, the motor controller state is normal, and the hydraulic braking compensation value is 0.

[0159] Further, the hydraulic braking compensation value can be determined according to the following formula: hydraulic braking compensation value = (electric braking recovery torque - actual electric braking recovery torque) / braking efficiency factor.

[0160] Step S408, superimpose the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value as a target recovery request torque for energy recovery.

[0161] By obtaining the actual electric braking recovery torque, the current electric braking system recovery energy capacity can be accurately understood, which helps to optimize the energy recovery strategy in the braking process, compensates for the missing braking force by hydraulic braking when the motor controller fails, ensures the stability of the braking effect and meets the driver's expectation, and enhances the safety and reliability in the braking process.

[0162] Embodiment 5

[0163] Corresponding to the above method embodiment, the embodiment of the application provides an energy recovery control device based on electro-hydraulic distribution, Figure 5 A structure diagram of an energy recovery control device based on electro-hydraulic distribution provided by the embodiment of the application is shown in Figure 5 As shown, the energy recovery control device based on electro-hydraulic distribution can include:

[0164] The coasting data acquisition module 501 is configured to acquire the coasting recovery torque of the vehicle when the vehicle meets the coasting energy recovery condition.

[0165] The braking data acquisition module 502 is configured to acquire the braking torque and the torque recovery limit value of the vehicle when the vehicle meets the braking energy recovery condition.

[0166] The first comparison module 503 is configured to determine the electric braking recovery torque and the hydraulic braking force according to the first comparison result of the braking torque of the vehicle and the torque recovery limit value.

[0167] The hydraulic braking monitoring module 504 is configured to acquire the actual hydraulic braking force of the vehicle.

[0168] The second comparison module 505 is configured to determine the braking controller state and the electric braking compensation value according to the second comparison result of the hydraulic braking force and the actual hydraulic braking force.

[0169] The target request torque determination module 506 is configured to superimpose the coasting recovery torque, the electric braking recovery torque and the electric braking compensation value as a target recovery request torque for energy recovery.

[0170] The embodiment of the present application provides an energy recovery control device based on electro-hydraulic distribution, when a vehicle meets coasting energy recovery conditions, a coasting recovery torque is obtained, when the vehicle meets brake energy recovery conditions, an electric brake recovery torque is obtained, so that the coasting energy and brake energy are recovered, the energy recovery rate is improved, meanwhile, in the brake energy recovery process, the actual hydraulic brake force of the vehicle is monitored, when the actual hydraulic brake force cannot be met, the electric brake is compensated in time, the safety of braking is ensured, the flexibility of the braking relationship between the electric brake and the hydraulic brake is improved, the coasting recovery torque, the electric brake recovery torque and the electric brake compensation value are taken as the target recovery torque together, and the recovery rate of energy recovery is improved.

[0171] In some embodiments, the brake data acquisition module 502 is specifically configured to:

[0172] The first limit value determination unit is configured to determine a first torque limit value according to the maximum recovery current of the vehicle and the power consumption of the whole vehicle electrical appliance;

[0173] The second limit value determination unit is configured to determine a second torque limit value according to the speed of the motor in the vehicle and the external characteristic curve;

[0174] The third limit value determination unit is configured to determine a third torque limit value according to the speed of the vehicle;

[0175] The limit value parameter acquisition unit is configured to acquire the electric brake limit value and the rear axle bearable torque limit value of the vehicle;

[0176] The torque recovery limit value determination unit is configured to determine the recovery torque limit value of the vehicle according to the first torque limit value, the second torque limit value, the third torque limit value, the electric brake limit value, the rear axle bearable torque limit value and the coasting recovery torque.

[0177] In some embodiments, the torque recovery limit value determination unit is further configured to:

[0178] The minimum value among the first torque limit value, the second torque limit value, the electric brake limit value and the rear axle bearable torque limit value is taken as a fourth torque limit value;

[0179] The difference between the fourth torque limit value and the coasting recovery torque is taken as a fifth torque limit value;

[0180] The minimum value among the third torque limit value and the fifth torque limit value is taken as the recovery torque limit value of the vehicle.

[0181] In some embodiments, the brake data acquisition module 502 is specifically configured to:

[0182] The pedal displacement acquisition unit is configured to acquire the brake pedal displacement of the vehicle;

[0183] a pressure determining unit configured to query a corresponding pressure of a pressure cylinder according to the brake pedal displacement;

[0184] a brake torque determining unit configured to determine a brake torque corresponding to the brake pedal displacement according to the pressure of the pressure cylinder, and take the brake torque as a brake torque of the vehicle.

[0185] In some embodiments, the first comparison module 503 is specifically configured to:

[0186] when the brake torque of the vehicle is less than or equal to the torque recovery limit value, take the brake torque as an electric brake recovery torque;

[0187] when the brake torque of the vehicle is greater than the torque recovery limit value, take the torque recovery limit value as an electric brake recovery torque, and determine a hydraulic brake force according to a difference between the brake torque and the torque recovery limit value.

[0188] In some embodiments, the first comparison module 503 is further configured to:

[0189] take the difference between the brake torque and the torque recovery limit value as a hydraulic recovery torque;

[0190] take a ratio of the hydraulic recovery torque to a brake efficiency factor as the hydraulic brake force.

[0191] In some embodiments, the second comparison module 505 is specifically configured to:

[0192] when the hydraulic brake force is greater than the actual hydraulic brake force, determine that a brake controller state is faulty;

[0193] determine the electric brake compensation value according to a difference between the hydraulic brake force and the actual hydraulic brake force;

[0194] when the hydraulic brake force is less than or equal to the actual hydraulic brake force, determine that the brake controller state is normal, and the electric brake compensation value is 0.

[0195] In some embodiments, the apparatus further comprises:

[0196] an electric brake monitoring module configured to acquire an actual electric brake recovery torque of the vehicle;

[0197] a third comparison module configured to determine a motor controller state and a hydraulic brake compensation value according to a third comparison result of the electric brake recovery torque and the actual electric brake recovery torque, the hydraulic brake compensation value being used for hydraulic brake compensation on the actual electric brake recovery torque.

[0198] In some embodiments, the third comparison module is specifically configured to:

[0199] determining that the motor controller state is fault when the electric braking recovery torque is greater than the actual electric braking recovery torque;

[0200] determining the hydraulic braking compensation value according to a difference between the electric braking recovery torque and the actual electric braking recovery torque;

[0201] determining that the motor controller state is normal and the hydraulic braking compensation value is 0 when the electric braking recovery torque is less than or equal to the actual electric braking recovery torque.

[0202] In some embodiments, the apparatus further comprises:

[0203] an alarm monitoring module configured to acquire dangerous alarm information of the vehicle;

[0204] an exit compensation module configured to, in a case where the dangerous alarm information is received, determine an exit compensation value according to a difference between the braking torque and the exit torque, so as to perform hydraulic braking compensation on an electric braking exit process.

[0205] The apparatus provided in the embodiments of the present application has the same implementation principle and technical effects as the foregoing method embodiments, and for brevity, the part not mentioned in the apparatus embodiment part can be referred to the corresponding content in the foregoing method embodiments.

[0206] Embodiment 6

[0207] The embodiments of the present application further provide an electronic device configured to execute the energy recovery control method based on electric-hydraulic distribution described above; refer to Figure 6 Fig. 6 shows a structural schematic diagram of an electronic device, which comprises a memory 600 and a processor 601, wherein the memory 600 is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor 601 to implement the energy recovery control method based on electric-hydraulic distribution described above.

[0208] Further, Figure 6 The electronic device shown in Fig. 6 further comprises a bus 602 and a communication interface 603, and the processor 601, the communication interface 603 and the memory 600 are connected through the bus 602.

[0209] The memory 600 can include a high-speed random access memory (RAM), and can also include a non-volatile memory such as at least one disk memory. 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 can be wired or wireless), and the Internet, a wide area network, a local network, a metropolitan area network, etc. can be used. The bus 602 can 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 to represent the system network element and at least one other network element, but it does not mean that there is only one bus or one type of bus.

[0210] The processor 601 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 601 or the instructions in the form of software. The processor 601 described above 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. Each method, step and logic block disclosed in the embodiment of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiment of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium in the art. The storage medium is located in the memory 600, and the processor 601 reads the information in the memory 600, and combines the hardware to complete the steps of the method of the above embodiment.

[0211] The embodiment of the present application further provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions cause the processor to implement the energy recovery control method based on electro-hydraulic distribution when the computer executable instructions are called and executed by the processor. For details, refer to the method embodiment, which will not be repeated here.

[0212] The computer program product for implementing the energy recovery control method based on electro-hydraulic distribution provided by the embodiment of the present application includes a computer readable storage medium storing non-volatile program codes executable by the processor, and the instructions included in the program codes can be used to execute the method described in the foregoing method embodiment. For details, refer to the method embodiment, which will not be repeated here.

[0213] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiment, which will not be repeated here.

[0214] In the several embodiments of the present application, it should be understood that the disclosed system, device and method 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, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0215] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0216] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0217] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the prior art that essentially contributes or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0218] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily think of changes to the technical solutions recorded in the foregoing embodiments within the technical range disclosed by the present application, or replace some technical features with equivalent ones; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to 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 conditions for coasting energy recovery, the coasting recovery torque of the vehicle is obtained; When the vehicle meets the conditions for regenerative braking, the braking torque and torque recovery limit of the vehicle are obtained; Based on the first comparison result between the vehicle's braking torque and the torque recovery limit, the electric braking recovery torque and hydraulic braking force are determined; Obtain the actual hydraulic braking force of the vehicle; Based on the second comparison result between the hydraulic braking force and the actual hydraulic braking force, the brake controller state and the electric braking compensation value are determined. The coasting recovery torque, the electric braking recovery torque, and the electric braking compensation value are superimposed to obtain the target recovery request torque for energy recovery. The step of obtaining the torque recovery limit of the vehicle includes: The first torque limit is determined based on the vehicle's maximum regenerative current and the power consumption of the vehicle's electrical appliances. The second torque limit is determined based on the speed and external characteristic curve of the motor in the vehicle; A third torque limit is determined based on the vehicle's speed; Obtain the electric braking limit and the rear axle torque limit of the vehicle; The regenerative 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's tolerable torque limit, and the coasting regeneration torque. The step of determining the regenerative torque limit of the vehicle based on the first torque limit, the second torque limit, the third torque limit, the electric braking limit, the rear axle's withstand torque limit, and the coasting regenerative torque includes: The minimum value among the first torque limit, the second torque limit, the electric braking limit, and the rear axle's tolerable torque limit shall be used as the fourth torque limit; The difference between the fourth torque limit and the coasting recovery torque is taken as the fifth torque limit; The minimum value between the third torque limit and the fifth torque limit shall be used as the regenerative torque limit of the vehicle.

2. The method according to claim 1, characterized in that, The process of obtaining the braking torque of the vehicle includes: Obtain the vehicle's brake pedal displacement; Based on the brake pedal displacement, query the corresponding pressurization cylinder pressure; The braking torque corresponding to the pedal displacement is determined based on the pressure of the pressurized cylinder, and is used as the braking torque of the vehicle.

3. The method according to claim 1, characterized in that, The step of determining the electric braking regenerative torque and hydraulic braking force based on a first comparison result between the vehicle's braking torque and the torque regeneration limit includes: When the braking torque of the vehicle is less than or equal to the torque recovery limit, 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, the torque recovery limit is used as the electric braking recovery torque, and the hydraulic braking force is determined based on the difference between the braking torque and the torque recovery limit.

4. The method according to claim 3, characterized in that, The step of determining the hydraulic braking force based on the difference between the braking torque and the torque recovery limit includes: The difference between the braking torque and the torque recovery limit is taken as the hydraulic recovery torque; The ratio of the hydraulic recovery torque to the braking efficiency factor is used as the hydraulic braking force.

5. The method according to claim 1, characterized in that, The step of determining the brake controller state and electric brake compensation value based on the second comparison result of the hydraulic braking force and the actual hydraulic braking force includes: When the hydraulic braking force is greater than the actual hydraulic braking force, the brake controller is determined to be faulty. The electric braking 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 is determined to be in normal condition, and the electric braking compensation value is 0.

6. The method according to claim 1, characterized in that, After obtaining the actual hydraulic braking force of the vehicle, the process also includes: Obtain the actual electric braking regenerative torque of the vehicle; Based on the third comparison result between the electric braking recovery torque and the actual electric braking recovery torque, the motor controller state and the hydraulic braking compensation value are determined. The hydraulic braking compensation value is used to perform hydraulic braking compensation on the actual electric braking recovery torque.

7. The method according to claim 6, characterized in that, The step of determining the motor controller state and hydraulic braking compensation value based on the third comparison result of the electric braking regenerative torque and the actual electric braking regenerative torque includes: When the electric braking recovery torque is greater than the actual electric braking recovery torque, the motor controller status is determined to be faulty. The hydraulic braking compensation value is determined based on the difference between the electric braking regeneration torque and the actual electric braking regeneration torque. When the electric braking recovery torque is less than or equal to the actual electric braking recovery torque, the motor controller is determined to be in normal condition, and the hydraulic braking 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 process also includes: Obtain the hazard warning information of the vehicle; Upon receiving the aforementioned hazard alarm information, a withdrawal compensation value is determined based on the difference between the braking torque and the withdrawal torque, which is used to perform hydraulic braking compensation during the electric braking withdrawal process.

9. An energy recovery control device based on electro-hydraulic distribution, used to execute the energy recovery control method based on electro-hydraulic distribution as described in claim 1, characterized in that, include: The coasting data acquisition module is used to acquire the coasting recovery torque of the vehicle when the coasting energy recovery conditions are met. The braking data acquisition module is used to acquire the braking torque and torque recovery limit of the vehicle when the vehicle meets the braking energy recovery conditions. The first comparison module is used to determine the electric braking recovery torque and hydraulic braking force based on the first comparison result between the vehicle's braking torque and the torque recovery limit. A hydraulic braking monitoring module is used to acquire the actual hydraulic braking force of the vehicle. The second comparison module is used to determine the brake controller state and the electric brake compensation value based on the second comparison result between the hydraulic braking force and the actual hydraulic braking force. The target requested torque determination module is used to superimpose the coasting recovery torque, the electric braking recovery torque, and the electric braking compensation value to obtain the target recovery requested torque for energy recovery.

10. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the energy recovery control method based on electro-hydraulic distribution as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the energy recovery control method based on electro-hydraulic distribution as described in any one of claims 1 to 8.

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