Energy recovery torque adjusting method and device and storage medium

Abstract

The invention discloses an energy recovery torque adjusting method and device, electronic equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that in response to the fact that a braking function of a current vehicle is started, the slip rate of the current vehicle is obtained through an anti-lock braking system; according to the slip rate of the current vehicle, a matched energy recovery torque limit value is obtained; and the energy recovery torque limiting value is sent to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limiting value. According to the technical scheme, stable reduction of the energy recovery torque based on the vehicle slip rate is achieved, so that when the anti-lock braking system is triggered, the energy recovery torque is reduced to a small value, the forward rushing feeling caused by instantaneous reduction of the vehicle deceleration is reduced, the driving comfort is improved, and potential safety hazards are avoided.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to an energy recovery torque adjustment method, device and storage medium. Background Art

[0002] With the continuous development of new energy technology, Braking Energy Recovery System (BERS) and Antilock Brake System (ABS) are widely configured in various electric vehicles and have become an important part of the electric vehicle braking system.

[0003] In the prior art, the BERS system is used to recover energy during vehicle braking, and the ABS system is used to prevent the vehicle from locking during braking. When the braking system performs a braking operation, the BERS system simultaneously recovers the energy generated during the vehicle braking process, and when the ABS system is triggered, the BERS system will be immediately shut down.

[0004] However, since the deceleration provided by the energy recovery torque during braking is large, the instantaneous drop in the energy recovery torque when the ABS system is triggered will cause an instantaneous decrease in the vehicle's deceleration, resulting in a forward rush that does not meet driving expectations, which will not only bring an uncomfortable feeling during driving, but also pose a safety hazard. Summary of the invention

[0005] The present invention provides an energy recovery torque adjustment method, device, electronic device and storage medium to solve the problem of a vehicle having a forward rush feeling that does not meet driving expectations when an anti-lock braking system is triggered.

[0006] According to one aspect of the present invention, there is provided an energy recovery torque adjustment method, which is applied to a vehicle-mounted terminal device, comprising:

[0007] In response to detecting that the braking function of the current vehicle has been turned on, obtaining the slip rate of the current vehicle through an anti-lock braking system;

[0008] According to the current slip rate of the vehicle, a matching energy recovery torque limit is obtained;

[0009] The energy recovery torque limit value is sent to a braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value.

[0010] The obtaining of the slip rate of the current vehicle through the anti-lock braking system includes: obtaining an average slip rate and a maximum slip rate according to the slip rates of each wheel in the current vehicle, and obtaining the slip rate of the current vehicle according to the average slip rate and the maximum slip rate.

[0011] The obtaining of a matching energy recovery torque limit value based on a current slip rate of the vehicle comprises: obtaining road condition information through an on-board auxiliary system; wherein the on-board auxiliary system comprises at least one of an automatic emergency braking system, an automatic parking system and a rear automatic emergency braking system; and obtaining a matching energy recovery torque limit value based on the road condition information and the current slip rate of the vehicle.

[0012] The obtaining of the matching energy recovery torque limit value according to the slip rate of the current vehicle includes: obtaining a slip rate variation curve within a preset detection time, and obtaining the matching energy recovery torque limit value according to the slip rate variation curve and the slip rate of the current vehicle.

[0013] The method of obtaining a matching energy recovery torque limit value according to the slip rate of the current vehicle includes: obtaining an intermediate calculated value of the anti-lock braking system; wherein the anti-lock braking system executes an anti-lock braking strategy based on the intermediate calculated value; obtaining a matching target trigger probability through a probability mapping table according to the intermediate calculated value; wherein the probability mapping table records the mapping relationship between each intermediate calculated value and the corresponding trigger probability of the anti-lock braking system; and obtaining a matching energy recovery torque limit value according to the target trigger probability and the slip rate of the current vehicle.

[0014] The obtaining of a matching energy recovery torque limit value based on the slip rate of the current vehicle includes: obtaining a matching energy recovery torque limit value based on road condition information of the current vehicle, a slip rate variation curve of the current vehicle within a preset detection time, an intermediate calculated value of the anti-lock braking system, and the slip rate of the current vehicle.

[0015] According to another aspect of the present invention, there is provided an energy recovery torque adjustment device, which is applied to a vehicle-mounted terminal device, comprising:

[0016] A slip ratio acquisition module, configured to acquire the slip ratio of the current vehicle through an anti-lock braking system in response to detecting that the braking function of the current vehicle has been turned on;

[0017] A torque limit acquisition module, used for acquiring a matching energy recovery torque limit according to the current slip rate of the vehicle;

[0018] The torque limit sending module is used to send the energy recovery torque limit to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the energy recovery torque adjustment method described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the energy recovery torque adjustment method described in any embodiment of the present invention when executed.

[0024] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the energy recovery torque regulation method according to any embodiment of the present invention is implemented.

[0025] The technical solution of the embodiment of the present invention, in response to detecting that the braking function of the current vehicle has been turned on, obtains the slip rate of the current vehicle through the anti-lock braking system; obtains the matching energy recovery torque limit value according to the slip rate of the current vehicle; sends the energy recovery torque limit value to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value. The energy recovery torque based on the vehicle slip rate is smoothly reduced, so that when the anti-lock braking system is triggered, the energy recovery torque has been reduced to a smaller value, thereby reducing the forward rush caused by the instantaneous reduction of the vehicle deceleration, improving driving comfort, and avoiding the occurrence of safety hazards.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a flow chart of an energy recovery torque adjustment method provided according to Embodiment 1 of the present invention;

[0029] Figure 2 is a flow chart of another energy recovery torque adjustment method provided according to the second embodiment of the present invention;

[0030] Figure 3 is a flow chart of another energy recovery torque adjustment method provided according to Embodiment 3 of the present invention;

[0031] Figure 4 is a structural schematic diagram of an energy recovery torque adjustment device provided according to a fourth embodiment of the present invention;

[0032] Figure 5 It is a structural schematic diagram of an electronic device for implementing the energy recovery torque adjustment method of an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 1 This is a flow chart of a method for adjusting energy recovery torque provided in the first embodiment of the present invention. This embodiment is applicable to the case where the energy recovery torque is adjusted based on the vehicle slip rate. This method can be executed by the energy recovery torque adjustment device in any embodiment of the present invention. The energy recovery torque adjustment device can be implemented in the form of hardware and / or software. The energy recovery torque adjustment device can be configured in an electronic device, typically, in a vehicle-mounted terminal device. Figure 1 As shown, the method includes:

[0037] S101. In response to detecting that a braking function of a current vehicle is turned on, obtaining a slip rate of the current vehicle through an anti-lock braking system.

[0038] The on-board terminal device can detect whether the vehicle's braking function is turned on in a variety of ways; for example, when the vehicle's braking function is activated, the pressure in the brake line continues to increase, and the on-board terminal device can obtain the pressure value in the brake line by detecting the brake line pressure signal, and compare it with the preset pressure threshold; if the brake line pressure is greater than or equal to the preset pressure threshold, it indicates that the braking function of the current vehicle is turned on; if the brake line pressure is less than the preset pressure threshold, it indicates that the braking function of the current vehicle is not turned on.

[0039] In addition, when the vehicle's braking function is activated, the brake light switch will be in the on state to light up the brake light; the on-board terminal device can obtain the switch state of the brake light by detecting the brake light switch signal; if the brake switch signal is in the on state, it means that the braking function of the current vehicle is turned on; if the brake switch signal is in the off state, it means that the braking function of the current vehicle is not turned on; in particular, the above-mentioned brake line pressure signal and brake light switch signal can be triggered via the Controller Area Network (CAN) protocol.

[0040] The Antilock Brake System (ABS) is composed of functional components such as wheel speed sensor, deceleration sensor, electronic control unit (ECU) and brake pressure regulator. After the vehicle braking function is activated, the speed sensor measures the wheel speed and transmits it to the electronic control unit. When the electronic control unit determines that the wheel is about to lock, it sends a command to the brake pressure regulator to adjust the brake pressure through the brake pressure regulator, so that the wheel works in a rolling and sliding state, thereby maintaining the stability and steering ability of the vehicle.

[0041] Wheel slip rate refers to the proportion of sliding component in wheel motion, which can be obtained by the following equation:

[0042]

[0043] Among them, S i is the slip rate of the i-th wheel; u i is the speed of the i-th wheel; r i is the radius of the ith wheel, w i is the rolling angular velocity of the i-th wheel. After the slip rate of each wheel is obtained through the anti-lock braking system, the average value or sum of the slip rates of each wheel can be used as the slip rate of the current vehicle; or the maximum value of the slip rates of each wheel can be used as the slip rate of the current vehicle.

[0044] Optionally, in an embodiment of the present invention, obtaining the slip rate of the current vehicle through the anti-lock braking system includes: obtaining an average slip rate and a maximum slip rate based on the slip rates of each wheel in the current vehicle, and obtaining the slip rate of the current vehicle based on the average slip rate and the maximum slip rate.

[0045] Specifically, the average slip rate of each wheel reflects the possibility of the current vehicle as a whole being at risk of locking, while the maximum slip rate of each wheel reflects the possibility of a single wheel being at risk of locking; assuming that the average slip rate of vehicle A is the same as that of vehicle B, and the maximum slip rate of the wheels in vehicle A is greater than the maximum slip rate of the wheels in vehicle B, then the possibility of vehicle A being at risk of locking is greater than that of vehicle B, that is, the probability of the ABS system being activated in vehicle A is greater than the probability of the ABS system being activated in vehicle B. Similarly, assuming that the maximum slip rate of vehicle A is the same as that of vehicle B, and the average slip rate of the wheels in vehicle A is greater than the average slip rate of the wheels in vehicle B, then the possibility of vehicle A being at risk of locking is also greater than that of vehicle B, that is, the probability of the ABS system being activated in vehicle A is greater than the probability of the ABS system being activated in vehicle B.

[0046] Therefore, in an embodiment of the present invention, the vehicle slip rate can be calculated based on the average slip rate and the maximum slip rate of the wheels; for example, it can be calculated based on a pre-constructed calculation equation, or it can be obtained by looking up a pre-configured slip mapping table based on the average slip rate and the maximum slip rate; one of the two can be used as a basic value, and the other can be multiplied by a preset weight coefficient, and the product result is summed with the basic value, and the summed result is the vehicle slip rate; thereby, the numerical accuracy of the calculated vehicle slip rate is improved, and the slip state of the vehicle is more comprehensively reflected.

[0047] S102: Obtain a matching energy recovery torque limit value according to the current slip rate of the vehicle.

[0048] The energy recovery torque limit refers to the maximum value of the negative torque that the motor is allowed to generate during the energy recovery process of the braking energy recovery system. The maximum energy recovery torque that the braking energy recovery system can generate can be used as a basic value. According to the current slip rate of the vehicle, the corresponding percentage coefficient is obtained, and the product of the percentage coefficient and the basic value is used as the energy recovery torque limit obtained by calculation. The above percentage coefficient is less than or equal to 100%. The vehicle slip rate and the energy recovery torque limit are negatively correlated, that is, the larger the vehicle slip rate, the smaller the corresponding energy recovery torque limit. For example, when the vehicle slip rate reaches 8%, 10%, 12%, 14% and 16% respectively, the corresponding percentage coefficients are configured to 90%, 70%, 50%, 30% and 10% respectively.

[0049] S103: Send the energy recovery torque limit value to a braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value.

[0050] Energy recovery torque refers to the reverse torque of the motor during the energy recovery process of the braking energy recovery system. When the vehicle brakes, the braking energy recovery system converts the vehicle's kinetic energy into electrical energy through the reverse torque of the motor and stores the electrical energy in the battery. The on-board terminal device sends the calculated energy recovery torque limit to the braking energy recovery system, so that the braking energy recovery system adjusts the reverse torque of the motor according to the limit. In this way, when the anti-lock braking system is triggered, the braking energy recovery system stops recovering energy, and the energy recovery torque at this time has been reduced to zero or a smaller value, which greatly alleviates the forward rush caused by the instantaneous reduction in vehicle deceleration, improves driving comfort, and avoids the occurrence of safety hazards.

[0051] Optionally, in an embodiment of the present invention, obtaining a matching energy recovery torque limit value based on the current slip rate of the vehicle includes: obtaining road condition information through an on-board auxiliary system; wherein the on-board auxiliary system includes at least one of an automatic emergency braking system, an automatic parking system, and a rear automatic emergency braking system; obtaining a matching energy recovery torque limit value based on the road condition information and the current slip rate of the vehicle.

[0052] Specifically, slippery roads and snowy roads will reduce the friction between the tires and the road surface, making it easier for the vehicle to lock when braking, that is, the anti-lock braking system is more likely to trigger the anti-lock operation. Therefore, the road condition information may include road condition parameters such as the water coverage area, water depth, snow coverage area and snow thickness of the road surface; in addition, the friction between the tires and the road surface is different under different road types. For example, the friction between the tires and the road surface is larger on cement roads and asphalt roads, and smaller on dirt roads.

[0053] In this way, the road condition information around the vehicle can be obtained through on-board auxiliary systems such as the Autonomous Emergency Braking (AEB), the Automatic Parking System (APS) and the Rear Autonomous Emergency Braking (RAEB), and the corresponding correction coefficient can be obtained based on the road condition information; among them, the Automatic Emergency Braking system can obtain the road condition information of the area in front of the vehicle, the Automatic Parking System can obtain the road condition information of the area on the side of the vehicle, and the Rear Autonomous Emergency Braking system can obtain the road condition information of the area behind the vehicle.

[0054] For example, the matching friction level can be determined according to the above-mentioned road condition parameters and road surface type, and then the corresponding correction coefficient can be obtained according to the friction level; wherein, the higher the friction level, the greater the friction force, and the lower the probability of triggering the anti-lock braking system, and the corresponding correction coefficient is larger. After obtaining the current vehicle slip rate, the slip rate can be numerically corrected by the correction coefficient first, and then the matching energy recovery torque limit can be obtained according to the corrected slip rate, or the matching energy recovery torque limit can be obtained according to the slip rate first, and then the energy recovery torque limit can be corrected according to the correction coefficient; in this way, by combining the vehicle slip rate with the road condition information of the vehicle, the numerical accuracy of the obtained energy recovery torque limit is improved, which not only ensures a higher energy recovery rate, but also avoids the appearance of a forward rush that does not meet driving expectations, and improves the driving experience.

[0055] Optionally, in an embodiment of the present invention, obtaining a matching energy recovery torque limit value based on a slip rate of a current vehicle includes: obtaining a slip rate change curve within a preset detection time, and obtaining a matching energy recovery torque limit value based on the slip rate change curve and the slip rate of the current vehicle.

[0056] Specifically, a slip rate variation curve can be drawn according to the slip rate obtained at each detection moment, and the slip rate variation curve reflects the numerical variation trend of the slip rate; wherein the preset detection time can be a fixed duration in the adjacent historical time (for example, 5 seconds), or it can be the braking duration from the start of the current braking function to the current moment; the faster the numerical rising trend of the slip rate is, the higher the possibility of locking is, and correspondingly, the higher the triggering probability of the ABS system is.

[0057] Therefore, after obtaining the slip rate change curve within the preset detection time, the corresponding correction coefficient can be obtained according to the data fluctuation state or curve parameters such as the slope; similarly, after obtaining the slip rate of the current vehicle, the slip rate can be numerically corrected by the correction coefficient first, and then the matching energy recovery torque limit can be obtained according to the corrected slip rate, or the matching energy recovery torque limit can be obtained according to the slip rate, and then the energy recovery torque limit can be corrected according to the correction coefficient. In this way, the numerical accuracy of the obtained energy recovery torque limit is improved by combining the vehicle slip rate with the vehicle's slip rate change curve within the preset detection time, which not only ensures a higher energy recovery rate, but also avoids the appearance of a forward rush that does not meet driving expectations, thereby improving the driving experience.

[0058] Optionally, in an embodiment of the present invention, obtaining a matching energy recovery torque limit value based on the slip rate of the current vehicle includes: obtaining an intermediate calculated value of the anti-lock braking system; wherein the anti-lock braking system executes an anti-lock braking strategy based on the intermediate calculated value; obtaining a matching target trigger probability through a probability mapping table based on the intermediate calculated value; wherein the probability mapping table records the mapping relationship between each intermediate calculated value and the corresponding trigger probability of the anti-lock braking system; obtaining a matching energy recovery torque limit value based on the target trigger probability and the slip rate of the current vehicle.

[0059] Specifically, when the anti-lock braking system executes the anti-lock braking strategy, in addition to referring to the wheel speed and wheel slip rate, it also needs to refer to a variety of influencing factors for comprehensive judgment, and it will perform specific analysis and calculations through the internal electronic control unit; in an embodiment of the present invention, the on-board terminal device sends a data acquisition instruction to the anti-lock braking system to obtain an intermediate value calculated by the electronic control unit based on the above-mentioned various influencing factors, that is, an intermediate calculated value; the intermediate calculated value is the basis for whether the anti-lock braking system executes the anti-lock braking operation, and it can exist in any data form, for example, matrix form and vector form, etc.

[0060] The probability mapping table is pre-constructed based on the experimental results, which records the mapping relationship between various intermediate calculation values ​​and the triggering probability of the anti-lock braking system; after obtaining the above intermediate calculation values, the matching triggering probability is obtained by querying the probability mapping table. The triggering probability can also be regarded as a correction coefficient. The probability mapping table can simultaneously record the correction coefficients that match each triggering probability.

[0061] This is the same as the above-mentioned technical solution. After obtaining the current vehicle slip rate, the slip rate can be numerically corrected by the correction coefficient, and then the matching energy recovery torque limit can be obtained according to the corrected slip rate. Alternatively, the matching energy recovery torque limit can be obtained according to the slip rate, and then the energy recovery torque limit can be corrected according to the correction coefficient. In this way, the numerical accuracy of the obtained energy recovery torque limit is improved by combining the vehicle slip rate with the intermediate calculated value obtained by the anti-lock braking system, which not only ensures a higher energy recovery rate, but also avoids the appearance of a forward rush that does not meet driving expectations, thereby improving the driving experience.

[0062] The technical solution of the embodiment of the present invention, in response to detecting that the braking function of the current vehicle has been turned on, obtains the slip rate of the current vehicle through the anti-lock braking system; obtains the matching energy recovery torque limit value according to the slip rate of the current vehicle; sends the energy recovery torque limit value to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value. The energy recovery torque based on the vehicle slip rate is smoothly reduced, so that when the anti-lock braking system is triggered, the energy recovery torque has been reduced to a smaller value, thereby reducing the forward rush caused by the instantaneous reduction of the vehicle deceleration, improving driving comfort, and avoiding the occurrence of safety hazards.

[0063] Embodiment 2

[0064] Figure 2 This is a flow chart of a method for adjusting energy recovery torque provided by the second embodiment of the present invention. The relationship between this embodiment and the above embodiment is that different weight coefficients are configured for the road condition information of the current vehicle, the slip rate change curve of the current vehicle within the preset detection time, and the intermediate calculation value of the anti-lock braking system. Figure 2 As shown, the method includes:

[0065] S201: In response to detecting that a braking function of a current vehicle is turned on, obtaining a slip rate of the current vehicle through an anti-lock braking system.

[0066] S202, obtaining a matching energy recovery torque limit value according to the road condition information of the current vehicle, the slip rate change curve of the current vehicle within a preset detection time, the intermediate calculation value of the anti-lock braking system and the slip rate of the current vehicle.

[0067] The current road condition information of the vehicle, the current vehicle's slip rate change curve within the preset detection time, and the intermediate calculation value of the anti-lock braking system predict whether the vehicle will lock from different angles. Therefore, different weight coefficients can be configured for the above three influencing factors respectively; in addition, the specific values ​​of the above weight coefficients can be dynamically adjusted according to weather conditions and vehicle speed.

[0068] For example, in rainy and snowy weather, the weight coefficient corresponding to the road condition information is increased, and the weight coefficient corresponding to the slip rate change curve and the intermediate calculated value is decreased; in clear weather, the weight coefficients corresponding to the road condition information, the slip rate change curve and the intermediate calculated value are kept unchanged; when the vehicle speed is fast, the weight coefficient corresponding to the slip rate change curve and the intermediate calculated value is increased, and the weight coefficient corresponding to the road condition information is decreased; when the vehicle speed is normal or slow, the weight coefficient corresponding to the road condition information, the slip rate change curve and the intermediate calculated value is kept unchanged.

[0069] The correction coefficients corresponding to the road condition information, slip rate change curve and intermediate calculated values ​​are multiplied by the corresponding weight coefficients respectively. After summing the results of each multiplication, the correction coefficient after integrating the above factors can be obtained. Based on this correction coefficient and the current slip rate of the vehicle, the matching energy recovery torque limit can be obtained.

[0070] S203: Send the energy recovery torque limit value to a braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value.

[0071] The technical solution of the embodiment of the present invention is to obtain the current vehicle's slip rate through the anti-lock braking system, and then obtain a matching energy recovery torque limit value according to the road condition information of the current vehicle, the current vehicle's slip rate change curve within a preset detection time, the intermediate calculated value of the anti-lock braking system, and the current vehicle's slip rate, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value, thereby predicting whether the vehicle will lock from different angles, further improving the calculation accuracy of the energy recovery torque limit, ensuring a higher energy recovery rate, and avoiding the forward rush that does not meet driving expectations.

[0072] Embodiment 3

[0073] Figure 3 This is a flow chart of a method for adjusting energy recovery torque provided by Embodiment 3 of the present invention. The relationship between this embodiment and the above embodiments is that after the initialization of the anti-lock braking system is completed, the vehicle braking detection mechanism is started. Figure 3 As shown, the method includes:

[0074] S301. When the anti-lock braking system is initialized, detect whether the braking function of the current vehicle is turned on; if not, execute S302; if so, execute S303.

[0075] S302. Send the maximum energy recovery torque to the braking energy recovery system, so that the braking energy recovery system maintains the energy recovery torque at the maximum energy recovery torque.

[0076] S303, obtaining the current slip rate of the vehicle through the anti-lock braking system; executing S304.

[0077] S304. Obtain a matching energy recovery torque limit value according to the current slip rate of the vehicle; and execute S305.

[0078] S305. Send the energy recovery torque limit value to a braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value.

[0079] The technical solution of the embodiment of the present invention, in response to detecting that the braking function of the current vehicle has been turned on, obtains the slip rate of the current vehicle through the anti-lock braking system; obtains the matching energy recovery torque limit value according to the slip rate of the current vehicle; sends the energy recovery torque limit value to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value. The energy recovery torque based on the vehicle slip rate is smoothly reduced, so that when the anti-lock braking system is triggered, the energy recovery torque has been reduced to a smaller value, thereby reducing the forward rush caused by the instantaneous reduction of the vehicle deceleration, improving driving comfort, and avoiding the occurrence of safety hazards.

[0080] Embodiment 4

[0081] Figure 4 : is a structural block diagram of an energy recovery torque adjustment device provided by the fourth embodiment of the present invention, and the device specifically includes:

[0082] The slip ratio acquisition module 401 is used to acquire the slip ratio of the current vehicle through the anti-lock braking system in response to detecting that the braking function of the current vehicle has been turned on;

[0083] The torque limit acquisition module 402 is used to acquire a matching energy recovery torque limit according to the current slip rate of the vehicle;

[0084] The torque limit sending module 403 is used to send the energy recovery torque limit to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit.

[0085] The technical solution of the embodiment of the present invention, in response to detecting that the braking function of the current vehicle has been turned on, obtains the slip rate of the current vehicle through the anti-lock braking system; obtains the matching energy recovery torque limit value according to the slip rate of the current vehicle; sends the energy recovery torque limit value to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value. The energy recovery torque based on the vehicle slip rate is smoothly reduced, so that when the anti-lock braking system is triggered, the energy recovery torque has been reduced to a smaller value, thereby reducing the forward rush caused by the instantaneous reduction of the vehicle deceleration, improving driving comfort, and avoiding the occurrence of safety hazards.

[0086] Optionally, the slip rate acquisition module 401 is specifically used to acquire an average slip rate and a maximum slip rate according to the slip rates of each wheel in the current vehicle, and acquire the slip rate of the current vehicle according to the average slip rate and the maximum slip rate.

[0087] Optionally, the torque limit acquisition module 402 is also used to obtain road condition information through an on-board auxiliary system; wherein the on-board auxiliary system includes at least one of an automatic emergency braking system, an automatic parking system and a rear automatic emergency braking system; and obtain a matching energy recovery torque limit based on the road condition information and the current slip rate of the vehicle.

[0088] Optionally, the torque limit acquisition module 402 is further configured to acquire a slip ratio variation curve within a preset detection time, and acquire a matching energy recovery torque limit according to the slip ratio variation curve and the current slip ratio of the vehicle.

[0089] Optionally, the torque limit acquisition module 402 is also used to obtain an intermediate calculated value of the anti-lock braking system; wherein the anti-lock braking system executes an anti-lock braking strategy based on the intermediate calculated value; according to the intermediate calculated value, a matching target trigger probability is obtained through a probability mapping table; wherein the probability mapping table records the mapping relationship between each intermediate calculated value and the corresponding trigger probability of the anti-lock braking system; according to the target trigger probability and the slip rate of the current vehicle, a matching energy recovery torque limit is obtained.

[0090] Optionally, the torque limit acquisition module 402 is also used to obtain a matching energy recovery torque limit based on the current vehicle's road condition information, the current vehicle's slip rate change curve within a preset detection time, the intermediate calculated value of the anti-lock braking system, and the current vehicle's slip rate.

[0091] The above device can execute the energy recovery torque adjustment method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the energy recovery torque adjustment method provided by any embodiment of the present invention.

[0092] Embodiment 5

[0093] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, electronic devices, blade electronic devices, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0094] like Figure 5As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0095] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0096] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the energy recovery torque adjustment method.

[0097] In some embodiments, the energy recovery torque adjustment method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on a heterogeneous hardware accelerator via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the energy recovery torque adjustment method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the energy recovery torque adjustment method by any other appropriate means (e.g., by means of firmware).

[0098] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0099] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or electronic device.

[0100] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0101] To provide interaction with a user, the systems and techniques described herein may be implemented on a heterogeneous hardware accelerator having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the heterogeneous hardware accelerator. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data electronic device), or a computing system that includes middleware components (e.g., an application electronic device), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0103] The computing system may include a client and an electronic device. The client and the electronic device are generally remote from each other and usually interact through a communication network. The relationship between the client and the electronic device is generated by computer programs running on corresponding computers and having a client-electronic device relationship with each other. The electronic device may be a cloud electronic device, also known as a cloud computing electronic device or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0104] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0105] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for adjusting energy recovery torque, characterized in that: Applied to vehicle terminal equipment, including: In response to detecting that the braking function of the current vehicle has been turned on, obtaining the slip rate of the current vehicle through an anti-lock braking system; According to the current slip rate of the vehicle, a matching energy recovery torque limit is obtained; The energy recovery torque limit value is sent to a braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit value.

2. The method according to claim 1, characterized in that The obtaining of the current vehicle slip rate through the anti-lock braking system includes: According to the slip rates of the wheels of the current vehicle, an average slip rate and a maximum slip rate are obtained, and according to the average slip rate and the maximum slip rate, the slip rate of the current vehicle is obtained.

3. The method according to claim 1, characterized in that The step of obtaining a matching energy recovery torque limit value according to the current slip rate of the vehicle includes: Acquiring road condition information through an on-board auxiliary system; wherein the on-board auxiliary system includes at least one of an automatic emergency braking system, an automatic parking system, and a rear automatic emergency braking system; A matching energy recovery torque limit is obtained according to the road condition information and the current slip rate of the vehicle.

4. The method according to claim 1, characterized in that The step of obtaining a matching energy recovery torque limit value according to the current slip rate of the vehicle includes: A slip ratio variation curve within a preset detection time is obtained, and a matching energy recovery torque limit value is obtained according to the slip ratio variation curve and the current slip ratio of the vehicle.

5. The method according to claim 1, characterized in that: The step of obtaining a matching energy recovery torque limit value according to the current slip rate of the vehicle includes: Obtaining an intermediate calculated value of the anti-lock braking system; wherein the anti-lock braking system executes an anti-lock braking strategy based on the intermediate calculated value; According to the intermediate calculated values, a matching target trigger probability is obtained through a probability mapping table; wherein the probability mapping table records the mapping relationship between each intermediate calculated value and the corresponding trigger probability of the anti-lock braking system; A matching energy recovery torque limit is obtained according to the target trigger probability and the current slip rate of the vehicle.

6. The method according to any one of claims 3 to 5, characterized in that: The step of obtaining a matching energy recovery torque limit value according to the current slip rate of the vehicle includes: The matching energy recovery torque limit is obtained according to the road condition information of the current vehicle, the slip rate change curve of the current vehicle within a preset detection time, the intermediate calculation value of the anti-lock braking system and the slip rate of the current vehicle.

7. An energy recovery torque adjustment device, characterized in that: Applied to vehicle terminal equipment, including: A slip ratio acquisition module, configured to acquire the slip ratio of the current vehicle through an anti-lock braking system in response to detecting that the braking function of the current vehicle has been turned on; A torque limit acquisition module, used for acquiring a matching energy recovery torque limit according to the current slip rate of the vehicle; The torque limit sending module is used to send the energy recovery torque limit to the braking energy recovery system, so that the braking energy recovery system adjusts the energy recovery torque according to the energy recovery torque limit.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the energy recovery torque adjustment method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the energy recovery torque adjustment method according to any one of claims 1 to 6 when executed.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the energy recovery torque regulation method according to any one of claims 1 to 6 is implemented.

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