Energy recovery method, device, equipment and storage medium

Abstract

The present application relates to an energy recovery method, device, equipment and storage medium. The method comprises: when it is determined that the target vehicle enters the energy recovery phase, obtaining the vehicle driving information of the target vehicle at the current sampling time, determining the driving demand torque and the maximum feedback torque of the motor in the target vehicle at the current sampling time according to the vehicle driving information, and when it is determined that the target vehicle is in a forward-rushing condition according to the driving demand torque and the maximum feedback torque, determining the target adjustment parameters according to the driving demand torque, the maximum feedback torque and the vehicle driving information, wherein the target adjustment parameters include the speed adjustment parameters of the motor and / or the pressure adjustment parameters of the brake master cylinder, and based on the target adjustment parameters, controlling the target vehicle to perform energy recovery. The use of this method can improve the safety of vehicle driving.

Description

Technical Field

[0001] The present application relates to the field of energy recovery technology, and in particular to an energy recovery method, device, equipment and storage medium, which can be applied to the field of intelligent vehicle technology. Background Art

[0002] In order to reduce energy loss during the deceleration of electric vehicles, energy recovery methods have emerged. Existing energy recovery methods generally use the wheels of the electric vehicle to drive the drive motor to rotate, so that the drive motor generates current to charge the power battery pack in the electric vehicle to achieve the purpose of energy recovery.

[0003] However, in the related art, due to reasons such as battery recovery power limitation and power generation power fluctuation, the recovery torque of the drive motor during the energy recovery process will be affected, so that the driver will experience a feeling of the vehicle rushing forward during driving, reducing the safety of vehicle driving. Summary of the invention

[0004] Based on this, it is necessary to provide an energy recovery method, device, equipment and storage medium that can improve vehicle driving safety in response to the above technical problems.

[0005] In a first aspect, the present application provides an energy recovery method, comprising:

[0006] When it is determined that the target vehicle enters the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling time is obtained;

[0007] Determine the driving demand torque and maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information;

[0008] When it is determined that the target vehicle is in a forward-moving condition according to the driving demand torque and the maximum feedback torque, a target adjustment parameter is determined according to the driving demand torque, the maximum feedback torque and the vehicle driving information; wherein the target adjustment parameter includes a speed adjustment parameter of the motor and / or a pressure adjustment parameter of the brake master cylinder;

[0009] Based on the target adjustment parameters, the target vehicle is controlled to perform energy recovery.

[0010] In one embodiment, the vehicle driving information includes the vehicle driving speed; and the target adjustment parameter is determined according to the driving demand torque, the maximum feedback torque and the vehicle driving information, including:

[0011] According to the driving demand torque and the vehicle speed corresponding to each sampling moment in the current sampling period, the relative change relationship between the driving demand torque and the vehicle speed in the current sampling period is determined; wherein each sampling moment includes the current sampling moment; according to the maximum feedback torque at each sampling moment in the current sampling period, the torque change rate is determined; according to the relative change relationship, the torque change rate, the vehicle reference speed and the vehicle speed corresponding to the current sampling moment, the target adjustment parameter is determined; wherein the vehicle reference speed is determined according to the rotational speed corresponding to the motor of the target vehicle being at the highest efficiency point.

[0012] In one embodiment, the target adjustment parameter is determined according to the relative change relationship, the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling time, including:

[0013] A parameter mapping relationship corresponding to the relative change relationship is obtained; wherein the parameter mapping relationship is constructed based on the vehicle driving data of the sample vehicle at each sampling moment when entering the energy recovery stage; the vehicle driving data includes the vehicle driving information of the sample vehicle, the real motor speed and the real pressure change information of the brake master cylinder; according to the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment, a search is performed in the parameter mapping relationship to obtain the target adjustment parameter.

[0014] In one of the embodiments, when the relative change relationship is that the driving demand torque increases with the increase of the vehicle driving speed in the current sampling period, the parameter mapping relationship is a first parameter mapping relationship; according to the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment, searching in the parameter mapping relationship to obtain the target adjustment parameter includes:

[0015] When the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the first parameter mapping relationship based on the speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed, as well as the torque change rate, to obtain the speed adjustment parameter of the motor; wherein the speed adjustment parameter is a speed reduction parameter; when the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, a search is performed in the first parameter mapping relationship based on the torque change rate to obtain the pressure adjustment parameter of the brake master cylinder.

[0016] In one of the embodiments, when the relative change relationship is that the driving demand torque decreases as the vehicle speed increases during the current sampling period, the parameter mapping relationship is a second parameter mapping relationship; searching in the parameter mapping relationship according to the torque change rate, the vehicle reference speed, and the vehicle speed corresponding to the current sampling moment to obtain the target adjustment parameter includes:

[0017] Determine the speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed; search in the second parameter mapping relationship according to the speed difference and the torque change rate to obtain the speed adjustment parameter of the motor; wherein the speed adjustment parameter is a speed reduction parameter or a speed increase parameter.

[0018] In one embodiment, the method further comprises:

[0019] When the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the second parameter mapping relationship based on the speed difference and the torque change rate to obtain the torque attenuation parameter of the next sampling moment; wherein the torque attenuation parameter is used to process the driving demand torque corresponding to the next sampling moment.

[0020] In one embodiment, the vehicle driving information includes the vehicle driving speed, the current accelerator pedal opening, the motor power and the battery driving power; according to the vehicle driving information, the driving demand torque and the maximum feedback torque of the motor in the target vehicle at the current sampling time are determined, including:

[0021] According to the vehicle driving speed and the current accelerator pedal opening corresponding to the current sampling moment, a search is performed in the torque mapping relationship to obtain the driving demand torque of the motor in the target vehicle at the current sampling moment; wherein the torque mapping relationship is the correspondence between the candidate driving speeds, the candidate accelerator pedal openings and the candidate demand torques; according to the motor power and the battery drive power, the maximum feedback torque of the motor at the current sampling moment is determined.

[0022] In a second aspect, the present application also provides an energy recovery device, comprising:

[0023] An information acquisition module, used to acquire the vehicle driving information of the target vehicle at the current sampling time when it is determined that the target vehicle enters the energy recovery phase;

[0024] A torque determination module, used to determine the driving demand torque and maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information;

[0025] A parameter determination module, for determining a target adjustment parameter according to the driving demand torque and the maximum feedback torque, when it is determined that the target vehicle is in a forward-moving condition, according to the driving demand torque, the maximum feedback torque and the vehicle driving information; wherein the target adjustment parameter includes a speed adjustment parameter of the motor and / or a pressure adjustment parameter of the brake master cylinder;

[0026] The energy recovery module is used to control the target vehicle to recover energy based on target adjustment parameters.

[0027] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0028] When it is determined that the target vehicle enters the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling time is obtained;

[0029] Determine the driving demand torque and maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information;

[0030] When it is determined that the target vehicle is in a forward-moving condition according to the driving demand torque and the maximum feedback torque, a target adjustment parameter is determined according to the driving demand torque, the maximum feedback torque and the vehicle driving information; wherein the target adjustment parameter includes a speed adjustment parameter of the motor and / or a pressure adjustment parameter of the brake master cylinder;

[0031] Based on the target adjustment parameters, the target vehicle is controlled to perform energy recovery.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0033] When it is determined that the target vehicle enters the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling time is obtained;

[0034] Determine the driving demand torque and maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information;

[0035] When it is determined that the target vehicle is in a forward-moving condition according to the driving demand torque and the maximum feedback torque, a target adjustment parameter is determined according to the driving demand torque, the maximum feedback torque and the vehicle driving information; wherein the target adjustment parameter includes a speed adjustment parameter of the motor and / or a pressure adjustment parameter of the brake master cylinder;

[0036] Based on the target adjustment parameters, the target vehicle is controlled to perform energy recovery.

[0037] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0038] When it is determined that the target vehicle enters the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling time is obtained;

[0039] Determine the driving demand torque and maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information;

[0040] When it is determined that the target vehicle is in a forward-moving condition according to the driving demand torque and the maximum feedback torque, a target adjustment parameter is determined according to the driving demand torque, the maximum feedback torque and the vehicle driving information; wherein the target adjustment parameter includes a speed adjustment parameter of the motor and / or a pressure adjustment parameter of the brake master cylinder;

[0041] Based on the target adjustment parameters, the target vehicle is controlled to perform energy recovery.

[0042] The above energy recovery method, device, equipment and storage medium obtain the vehicle driving information of the target vehicle at the current sampling time when it is determined that the target vehicle enters the energy recovery phase, and determine the driving demand torque and maximum feedback torque of the motor in the target vehicle at the current sampling time based on the vehicle driving information; then, when it is determined that the target vehicle is in a forward rushing condition, the motor speed adjustment parameter or the pressure adjustment parameter of the brake master cylinder is determined based on the driving demand torque, the maximum feedback torque and the vehicle driving information to control the target vehicle to recover energy. The above method can make the energy recovery process more compatible with the actual driving state of the vehicle, while reducing the forward rushing experience of the whole vehicle, thereby improving the safety of vehicle driving on the basis of ensuring the reliability of energy recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of a process of an energy recovery method in one embodiment;

[0045] Figure 2 A schematic diagram of a process for determining target adjustment parameters in one embodiment;

[0046] Figure 3 A schematic diagram of a flow chart for determining target adjustment parameters in another embodiment;

[0047] Figure 4 A schematic diagram of a flow chart of determining target adjustment parameters in yet another embodiment;

[0048] Figure 5 A schematic diagram of a process for determining torque in one embodiment;

[0049] Figure 6 is a schematic flow chart of an energy recovery method in another embodiment;

[0050] Figure 7 is a structural block diagram of an energy recovery device in one embodiment;

[0051] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] In order to reduce energy loss during the deceleration of electric vehicles, energy recovery methods have emerged. Existing energy recovery methods generally use the wheels of the electric vehicle to drive the drive motor to rotate, so that the drive motor generates current to charge the power battery pack in the electric vehicle to achieve the purpose of energy recovery.

[0054] However, in the related art, due to reasons such as battery recovery power limitation and power generation power fluctuation, the recovery torque of the drive motor during the energy recovery process will be affected, so that the driver will experience a feeling of the vehicle rushing forward during driving, reducing the safety of vehicle driving.

[0055] Based on this, in an exemplary embodiment, Figure 1 As shown, an energy recovery method is provided, which is described by taking the application of the method to an energy recovery device deployed in an electric vehicle as an example, and specifically includes the following steps:

[0056] S101, when it is determined that the target vehicle enters the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling time is obtained.

[0057] The target vehicle is a vehicle with energy recovery requirements. In some embodiments, any vehicle in the energy recovery stage can be regarded as a target vehicle with energy recovery requirements. The so-called sampling time is the time when the vehicle driving information is collected, and the current sampling time is the current time when the vehicle driving information is collected.

[0058] The vehicle driving information is used to characterize the relevant information of the target vehicle during its driving process, and may include but is not limited to relevant information of the vehicle's driving state, such as the vehicle's driving speed and acceleration, and the vehicle's original configuration information.

[0059] For example, it is possible to determine whether the target vehicle has entered the energy recovery phase based on the change in the target vehicle's driving speed; or, it is possible to determine that the target vehicle has entered the energy recovery phase when the target vehicle's speed is greater than a preset speed threshold and the accelerator pedal opening is less than a preset opening threshold (e.g., 5%). The preset speed threshold and the preset opening threshold may be determined by the operation and maintenance end based on historical experience or through a large number of experiments, and this is not limited in this application.

[0060] When it is determined that the target vehicle has entered the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling time can be obtained through the information acquisition device in the target vehicle. For example, the vehicle driving speed at the current sampling time can be obtained through the vehicle speed acquisition device (such as a speed sensor) in the vehicle.

[0061] S102: Determine the driving demand torque and the maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information.

[0062] Among them, the driving demand torque is the torque required by the motor when performing energy recovery at the current sampling moment; the maximum feedback torque is the maximum torque fed back to the motor at the current sampling moment.

[0063] In one implementable manner, after obtaining the vehicle driving information, the vehicle driving information can be input into a trained first torque determination model, and the first torque determination model outputs the driving demand torque and maximum feedback torque of the motor in the target vehicle based on the vehicle driving information and model parameters.

[0064] In another possible implementation, the driving state of the driver in the target vehicle (for example, the steering wheel angle and the accelerator pedal opening) and the current operating state of the motor can be analyzed based on the vehicle driving information; then, the driving demand torque of the motor can be determined based on the driver's driving state and the current operating state of the motor, and the maximum feedback torque of the motor can be determined based on the current operating state of the motor, the initial configuration information of the motor, and the current usage of the battery in the target vehicle.

[0065] In another possible implementation, different coasting energy recovery levels can be divided. After determining the coasting energy recovery level at the current moment, the torque determination relationship table corresponding to the coasting energy recovery level at the current moment can be obtained; then, the current vehicle speed and the current accelerator pedal opening can be used as indexes to search the torque determination relationship table corresponding to the coasting energy recovery level at the current moment to obtain the driving demand torque of the motor.

[0066] S103, when it is determined that the target vehicle is in a forward-rushing condition according to the driving demand torque and the maximum regenerative torque, a target adjustment parameter is determined according to the driving demand torque, the maximum regenerative torque and vehicle driving information.

[0067] In the embodiment of the present application, the forward rushing condition is a condition in which the driver feels the vehicle rushing forward during the vehicle deceleration process; the target adjustment parameter includes the motor speed adjustment parameter and / or the brake master cylinder pressure adjustment parameter. Among them, the speed adjustment parameter is a parameter used to adjust the motor speed rate; the pressure adjustment parameter is a parameter used to adjust the internal pressure of the brake master cylinder.

[0068] It is understandable that, since the magnitude relationship between the driving demand torque and the maximum feedback torque can reflect the vehicle's driving condition to a certain extent, it is possible to determine whether the target vehicle is in a forward-rushing condition based on the driving demand torque and the maximum feedback torque.

[0069] For example, in order to improve the convenience of judging the forward rushing condition, the forward rushing condition judging condition can be set as: 1) T initial With T initial（max） The difference between them is less than the preset threshold; 2) |d initial（max） / dt|>100Nm / s. Only when the above two conditions are met at the same time can it be determined that the target vehicle is in the forward rushing condition. initial is the driving demand torque; T initial（max） is the maximum feedback torque.

[0070] For example, in T initial With T initial（max） When the difference between them is less than the preset threshold, since the driving demand torque is close to the maximum feedback torque, the vehicle motor will start the automatic protection mode, that is, reduce the maximum feedback torque. At this time, the driving demand torque will also decrease accordingly, so the forward rush condition will occur.

[0071] In one implementable method, when it is determined that the target vehicle is in a forward-rushing condition, the driving demand torque, the maximum feedback torque and the vehicle driving information are simultaneously input into a trained first parameter determination model, and the first parameter determination model outputs the target adjustment parameters based on the driving demand torque, the maximum feedback torque, the vehicle driving information and the model parameters.

[0072] In another possible implementation, the driving state of the target vehicle can be analyzed based on the driving demand torque and the vehicle driving information; and then the target adjustment parameter can be determined based on the current driving state and the maximum feedback torque of the target vehicle. For example, the maximum feedback torque can be used as an index to query the pre-constructed first parameter query table corresponding to the current driving state to obtain the target adjustment parameter. The first parameter query table can be determined by the operation and maintenance end based on historical experience or through a large number of experiments, which is not limited in this application.

[0073] S104, based on the target adjustment parameters, controlling the target vehicle to perform energy recovery.

[0074] In one implementable manner, the target adjustment parameter may be sent to a device corresponding to the target adjustment parameter to instruct the device to make adjustments based on the target adjustment parameter to achieve energy recovery of the target vehicle.

[0075] Exemplarily, when the target adjustment parameter is a speed adjustment parameter of a motor, the speed adjustment parameter may be sent to the motor, and the motor adjusts the speed rate of the motor according to the speed adjustment parameter, thereby achieving energy recovery of the target vehicle.

[0076] Alternatively, when the target adjustment parameter is the pressure adjustment parameter of the brake master cylinder, the pressure adjustment parameter can be sent to the brake master cylinder, and the brake master cylinder adjusts the pressure in the brake master cylinder according to the pressure adjustment parameter, thereby achieving energy recovery of the target vehicle.

[0077] Alternatively, when the target adjustment parameters are the speed adjustment parameters of the motor and the pressure adjustment parameters of the brake master cylinder, the speed adjustment parameters can be sent to the motor, and the motor adjusts the speed rate of the motor according to the speed adjustment parameters, and the pressure adjustment parameters can be sent to the brake master cylinder, and the brake master cylinder adjusts the pressure in the brake master cylinder according to the pressure adjustment parameters, thereby achieving energy recovery of the target vehicle.

[0078] In the above energy recovery method, when it is determined that the target vehicle has entered the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling moment is obtained, and the driving demand torque and maximum feedback torque of the motor in the target vehicle at the current sampling moment are determined based on the vehicle driving information; then, when it is determined that the target vehicle is in a forward rushing condition, the speed adjustment parameters of the motor or the pressure adjustment parameters of the brake master cylinder are determined based on the driving demand torque, the maximum feedback torque and the vehicle driving information to control the target vehicle to recover energy. The above method can make the energy recovery process more compatible with the actual driving state of the vehicle, while reducing the forward rushing experience of the whole vehicle, thereby improving the safety of vehicle driving on the basis of ensuring the reliability of energy recovery.

[0079] In order to ensure the rationality of the target adjustment parameters, based on the above embodiments, in some embodiments, the vehicle driving information includes the vehicle driving speed; further, an optional method for determining the target adjustment parameters is provided, such as Figure 2 As shown, the specific steps include:

[0080] S201, determining a relative change relationship between the driving demand torque and the vehicle driving speed in the current sampling period according to the driving demand torque and the vehicle driving speed corresponding to each sampling moment in the current sampling period.

[0081] The current sampling period is the sampling period in which the current sampling moment is located, that is, each sampling moment in the current sampling period includes the current sampling moment.

[0082] It can be understood that since the relative change relationship between the driving demand torque and the vehicle speed can reflect the vehicle's driving state to a certain extent, the driving demand torque and the vehicle speed at each sampling moment in the current sampling period can be obtained; then, based on the changes in the driving demand torque at each sampling moment and the changes in the vehicle speed at each sampling moment, the relative change relationship between the driving demand torque and the vehicle speed in the current sampling period can be determined.

[0083] In one feasible manner, if the driving demand torque at each sampling moment increases gradually, and the vehicle speed at each sampling moment also increases gradually, then the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed in the current sampling period.

[0084] In another possible implementation, if the driving demand torque at each sampling moment changes gradually increasing, and the vehicle speed at each sampling moment changes gradually decreasing, then the relative change relationship is that the driving demand torque decreases as the vehicle speed increases during the current sampling period.

[0085] S202, determining the torque change rate according to the maximum feedback torque at each sampling moment in the current sampling period.

[0086] The torque change rate is used to characterize the change of the maximum feedback torque.

[0087] In one possible implementation, the maximum feedback torque at each sampling moment in the current sampling period can be obtained, and the curve formed by the maximum feedback torque at each sampling moment can be differentiated to obtain the torque change rate of the maximum feedback torque. For example, it can be expressed as d initial（max） / dt, or, to show the changes more intuitively, you can use |d initial（max） / dt| indicates.

[0088] S203, determining a target adjustment parameter according to the relative change relationship, the torque change rate, the vehicle reference speed and the vehicle travel speed corresponding to the current sampling moment.

[0089] The vehicle reference speed is determined based on the speed corresponding to the motor of the target vehicle being at the highest efficiency point. Optionally, when the motor is running at the highest efficiency point, the power output of the motor is the largest and the loss in the electric energy conversion process is the smallest. For example, the motor speed when the motor is running at the highest efficiency point can be converted into a speed, and the converted speed is used as the vehicle reference speed.

[0090] In an optional implementation, a second parameter determination model that has been trained and corresponds to the relative change relationship can be obtained based on the relative change relationship; then the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment are simultaneously input into the second parameter determination model, and the second parameter determination model outputs the target adjustment parameters based on the torque change rate, the vehicle reference speed, the vehicle driving speed and the model parameters.

[0091] In another optional implementation, a second parameter query table associated with the relative change relationship can be obtained based on the relative change relationship; and then the torque change rate, the vehicle reference speed, and the vehicle speed corresponding to the current sampling time are used as index conditions at the same time to query the second parameter query table to obtain the target adjustment parameter. The second parameter query table can be determined by the operation and maintenance end based on historical experience or through a large number of experiments, which is not limited in this application.

[0092] In an embodiment of the present application, by determining the target adjustment parameters based on the relative change relationship, the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment, the adaptability between the target adjustment parameters and the vehicle driving state can be ensured, thereby improving the rationality of the target adjustment parameters.

[0093] In order to ensure the accuracy of the target adjustment parameters, based on the above embodiments, in some embodiments, another optional method for determining the target adjustment parameters is provided, specifically, obtaining a parameter mapping relationship corresponding to the relative change relationship; searching in the parameter mapping relationship according to the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment to obtain the target adjustment parameters.

[0094] Among them, the parameter mapping relationship is constructed based on the vehicle driving data of the sample vehicle at each sampling moment when entering the energy recovery stage; the vehicle driving data includes the vehicle driving information, the real motor speed and the real pressure change information of the brake master cylinder of the sample vehicle.

[0095] In one feasible manner, for each relative change relationship, the vehicle driving state of the sample vehicle can be determined by using the vehicle driving data of the sample vehicle when it enters the energy recovery stage and is in the driving state corresponding to the relative change relationship; and then, based on the corresponding relationship between the actual motor speed of the sample vehicle and the actual pressure change information of the brake master cylinder and the vehicle driving state, a parameter mapping relationship between the vehicle driving state and the candidate adjustment parameters under the relative change relationship is constructed.

[0096] Exemplarily, in order to refine the vehicle driving state under each relative change relationship, the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment can be used to characterize the vehicle driving state.

[0097] In one implementable method, after determining the relative change relationship, the identification information of the relative change relationship can be used as an index to obtain the parameter mapping relationship corresponding to the relative change relationship from the parameter mapping relationship corresponding to each relative change relationship; then, the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment can be used as index conditions at the same time to search in the parameter mapping relationship to obtain the target adjustment parameters.

[0098] In an embodiment of the present application, the target adjustment parameters are obtained by searching in the parameter mapping relationship according to the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment, thereby ensuring the accuracy of the target adjustment parameters.

[0099] In order to further ensure the accuracy of the target adjustment parameters, based on the above embodiments, in some embodiments, when the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed in the current sampling period, the parameter mapping relationship is the first parameter mapping relationship; further, another optional method for determining the target adjustment parameters is provided, such as Figure 3 As shown, the specific steps include:

[0100] S301, when the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the first parameter mapping relationship based on the speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed, and the torque change rate, to obtain the motor speed adjustment parameter.

[0101] Wherein, when the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, the determined speed adjustment parameter is the speed reduction parameter.

[0102] It can be understood that since the relationship between the vehicle driving speed and the vehicle reference speed can reflect the vehicle driving state to a certain extent, the method for determining the target adjustment parameter can be further refined based on the relationship between the vehicle driving speed and the vehicle reference speed.

[0103] When the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, reducing the motor speed at this time can appropriately improve the motor efficiency and alleviate the vehicle's forward rushing condition. Therefore, when the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, the speed difference can be determined based on the vehicle speed corresponding to the current sampling moment and the vehicle reference speed; subsequently, the speed difference and the torque change rate can be used as indexes at the same time to search in the first parameter mapping relationship to obtain the motor speed reduction parameter.

[0104] For example, when the vehicle speed corresponding to the current sampling time is greater than or equal to the vehicle reference speed, the first parameter mapping relationship can be displayed in the form of a first speed reduction parameter table. The first speed reduction parameter table refers to the following Table 1. Further, in Table 1 1 is the first reference speed, 2 is the second reference speed, and 2> 1; the speed reduction parameter is the rate at which the motor speed decreases; V1 is the vehicle speed; is the vehicle reference speed, that is is the speed difference.

[0105] Table 1 Parameters of the first speed reduction

[0106]

[0107] It can be understood that the various limit values ​​in Table 1, such as 100Nm / s and 300Nm / s, as well as the first reference speed and the second reference speed, can be determined by the operation and maintenance end based on historical experience or through a large number of experiments, and there is no restriction on this in the present application.

[0108] For example, in the case where the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed during the current sampling period, and the vehicle speed corresponding to the current sampling moment is greater than the vehicle reference speed, if the absolute value of the torque change rate of vehicle A is greater than 300Nm / s, and the speed difference is greater than 2, then the speed reduction parameter of vehicle A is 300rpm / s.

[0109] S302, when the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, searching in the first parameter mapping relationship according to the torque change rate to obtain the pressure adjustment parameter of the brake master cylinder.

[0110] It is understandable that when the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, a braking control strategy should be added to reduce the forward rushing feeling of the whole vehicle by activating the chassis hydraulic brake. Therefore, when the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, only the torque change rate can be used as an index to search in the first parameter mapping relationship to obtain the pressure adjustment parameter of the brake master cylinder.

[0111] For example, when the vehicle speed corresponding to the current sampling time is less than the vehicle reference speed, the first parameter mapping relationship can be displayed in the form of a pressure adjustment parameter table. The pressure adjustment parameter table refers to the following Table 2. The pressure adjustment parameter is an increase parameter of the pressure change rate of the brake master cylinder.

[0112] Table 2 Pressure adjustment parameters

[0113]

[0114] It can be understood that the various limit values ​​in Table 2, such as 100 Nm / s and 300 Nm / s, can be determined by the operation and maintenance end based on historical experience or through a large number of experiments, and there is no limitation on this in the present application.

[0115] For example, when the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed during the current sampling period, and the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, if the absolute value of the torque change rate of vehicle B is greater than 300Nm / s, the pressure adjustment parameter of vehicle B is 1MPa / s.

[0116] In order to ensure the comprehensiveness of vehicle adjustment, the motor speed can also be adjusted at the same time as the brake master cylinder is adjusted. For example, when the vehicle speed corresponding to the current sampling time is less than the vehicle reference speed, the first parameter mapping relationship can also be displayed in the form of an overall adjustment parameter table. The overall adjustment parameter table refers to the following Table 3.

[0117] Table 3 Overall adjustment parameters

[0118]

[0119] For example, when the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed during the current sampling period, and the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, if the absolute value of the torque change rate of vehicle B is greater than 300Nm / s, the pressure adjustment parameter of vehicle B is 1MPa / s, and the speed reduction parameter is 180rpm / s.

[0120] In an embodiment of the present application, by determining the target adjustment parameter in the first parameter mapping relationship based on the size relationship between the vehicle driving speed and the vehicle reference speed, the speed difference, and the torque change rate, the accuracy of the target adjustment parameter can be ensured.

[0121] In order to further ensure the accuracy of the target adjustment parameters, based on the above embodiments, in some embodiments, when the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, the parameter mapping relationship is a second parameter mapping relationship; further, another optional method for determining the target adjustment parameters is provided, such as Figure 4 As shown, the specific steps include:

[0122] S401, determining a speed difference between a vehicle driving speed corresponding to a current sampling moment and a vehicle reference speed.

[0123] In one achievable manner, the speed difference may be determined based on the vehicle travel speed corresponding to the current sampling moment and the vehicle reference speed, with reference to the process of step S301 above.

[0124] S402, searching in a second parameter mapping relationship according to the speed difference and the torque change rate to obtain a speed adjustment parameter of the motor.

[0125] The speed adjustment parameter is a speed reduction parameter or a speed increase parameter.

[0126] In one implementable manner, the speed difference and the torque change rate may be directly used as indexes to search in the second parameter mapping relationship to obtain the speed adjustment parameter of the motor.

[0127] In another possible implementation method, the above-mentioned embodiment can be referred to, and according to the size relationship between the vehicle driving speed corresponding to the current sampling moment and the vehicle reference speed, a parameter adjustment table related to the size relationship is extracted from the second parameter mapping relationship; then, the speed difference and the torque change rate are used as indexes to search in the parameter adjustment table to obtain the speed adjustment parameters of the motor.

[0128] For example, when the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, the motor speed is high. At this time, reducing the motor speed will improve the motor efficiency. Therefore, the second speed reduction parameter table can be extracted from the second parameter mapping relationship. The second speed reduction parameter table refers to the following Table 4, V2 is the vehicle speed, that is, is the speed difference.

[0129] Table 4 Second speed reduction parameter table

[0130]

[0131] When the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, increasing the motor speed will greatly increase the motor efficiency, slowly reduce the maximum feedback torque, and also reduce the driving demand torque; at this time, the motor speed adjustment parameters can be determined in combination with the driving mode selected by the driver and the accelerator pedal opening.

[0132] When the driving mode is the sports mode and the accelerator pedal opening is greater than or equal to 50%, the first speed increase parameter table can be extracted from the second parameter mapping relationship. At this time, the motor speed increases faster because the driver has a higher power requirement. The first speed increase parameter table refers to the following Table 5.

[0133] Table 5 Parameters of the first speed increase

[0134]

[0135] When the driving mode is economic or energy-saving mode, or the accelerator pedal opening is less than 50%, the second speed increase parameter table can be extracted from the second parameter mapping relationship, that is, a control strategy of slowly increasing the motor speed is selected. The second speed increase parameter table refers to the following Table 6.

[0136] Table 6 Second speed increase parameters

[0137]

[0138] It can be understood that the various limit values ​​in Tables 3-6, such as 100Nm / s and 300Nm / s, can be determined by the operation and maintenance side based on historical experience or through a large number of experiments, and there is no restriction on this in this application.

[0139] For example, in the case where the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, and the vehicle speed corresponding to the current sampling moment is greater than the vehicle reference speed, if the torque change rate of vehicle C is greater than 300Nm / s, and the speed difference is greater than 2, then the speed reduction parameter of vehicle C is 500rpm / s.

[0140] In the case where the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, and the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, if the driving mode is the sports mode, and the accelerator pedal opening is greater than or equal to 50%, the torque change rate of vehicle D is greater than 300Nm / s, and the speed difference is greater than 2, then the speed increase parameter of vehicle D is 300rpm / s.

[0141] In an embodiment of the present application, by determining the target adjustment parameter in the second parameter mapping relationship based on the size relationship between the vehicle driving speed and the vehicle reference speed, the speed difference, and the torque change rate, the accuracy of the target adjustment parameter can be ensured.

[0142] In order to ensure the driving experience of the user, based on the above embodiments, in some embodiments, when the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, an optional method for determining the torque attenuation parameter is provided, specifically:

[0143] When the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the second parameter mapping relationship according to the speed difference and the torque change rate to obtain the torque attenuation parameter at the next sampling moment.

[0144] The next sampling moment is the next sampling moment adjacent to the current sampling moment; the torque attenuation parameter is used to process the driving demand torque corresponding to the next sampling moment, and further, the torque attenuation parameter is used to reduce the driving demand torque.

[0145] It can be understood that when the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, and the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, since it is necessary to improve the motor efficiency by reducing the motor speed, at this time, T initial（max） Increase, T initial will also increase synchronously, so by reducing T initial To alleviate the forward rushing condition.

[0146] It is feasible to use the speed difference and the torque change rate as indexes to search in the second parameter mapping relationship to obtain the torque attenuation parameter at the next sampling moment.

[0147] For example, when the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, and the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, the torque attenuation parameter table can be extracted from the second parameter mapping relationship. The torque attenuation parameter table refers to the following Table 7, V2 is the vehicle speed, that is, is the speed difference.

[0148] Table 7 Torque attenuation parameter table

[0149]

[0150] For example, in the case where the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, and the vehicle speed corresponding to the current sampling moment is greater than the vehicle reference speed, if the torque change rate of vehicle E is greater than 300Nm / s, and the speed difference is greater than 2, then the torque attenuation parameter of vehicle E is 0.3, that is, when determining the driving demand torque at the next sampling moment as T initial（n+1） In the case of , the actual driving demand torque at the next sampling moment needs to drop to 0.3*T initial（n+1） .

[0151] In the embodiment of the present application, by determining the torque attenuation parameter in the second parameter mapping relationship based on the speed difference and the torque change rate, the rationality of the driving demand torque at the next sampling moment can be ensured, thereby ensuring the safety of vehicle operation.

[0152] In order to ensure the accuracy of the torque, based on the above embodiments, in some embodiments, the vehicle driving information includes the vehicle driving speed, the current accelerator pedal opening, the motor power and the battery driving power; further, an optional method for determining the torque is provided, such as Figure 5 As shown, the specific steps include:

[0153] S501, searching in a torque mapping relationship according to the vehicle speed and the current accelerator pedal opening corresponding to the current sampling moment to obtain the driving demand torque of the motor in the target vehicle at the current sampling moment.

[0154] Among them, the current accelerator pedal opening is the inclination angle of the accelerator pedal; the torque mapping relationship is the correspondence between the candidate driving speed, the candidate accelerator pedal opening and the candidate required torque. It can be understood that in this application, the torque mapping relationship can be determined by the operation and maintenance end based on historical experience, or it can be determined through a large number of experiments, and this is not limited in this application.

[0155] In one implementable manner, the vehicle driving state of the target vehicle at the current sampling moment can be determined based on the current accelerator pedal opening; then, the driving demand torque of the motor in the target vehicle can be determined by analyzing the vehicle driving state and the vehicle driving speed.

[0156] Exemplarily, the vehicle driving state and the vehicle driving speed may be input into a trained second torque determination model, and the second torque determination model outputs the driving demand torque according to the vehicle driving state, the vehicle driving speed and model parameters.

[0157] In another possible implementation, the vehicle speed and the current accelerator pedal opening can be used as indexes to query the pre-built torque mapping relationship to obtain the driving demand torque. The torque mapping relationship can be determined by the operation and maintenance end based on historical experience or through a large number of experiments, which is not limited in this application.

[0158] In actual applications, energy recovery has three levels: low, medium, and high. Different levels correspond to corresponding maximum deceleration. Taking the low energy recovery level as an example, when the accelerator pedal opening is less than the set value and the vehicle speed is greater than the set value, the driving demand torque begins to appear, and the absolute value of the torque increases as the accelerator pedal opening decreases, and first increases and then decreases as the vehicle speed increases. This is because the driver's driving intention is taken into account. When the accelerator pedal opening is lower, the braking driving intention is stronger. When the vehicle speed is higher, the driving demand torque is greater. However, as the vehicle speed increases, the driver's braking intention will decrease accordingly, so the driving demand torque needs to be reduced.

[0159] Based on this, the torque mapping relationship can be embodied in the form of a torque parameter table. The torque parameter table refers to the following Table 8.

[0160] Table 8 Torque parameter table

[0161]

[0162] For example, when the vehicle speed of vehicle F is 20 km / h and the current accelerator pedal opening is 5%, the driving demand torque of vehicle F is -90 Nm.

[0163] S502, determining the maximum feedback torque of the motor at the current sampling moment according to the motor power and the battery driving power.

[0164] Among them, the motor power is the power generated by the motor; the battery drive power is the power supplied by the vehicle battery to the outside.

[0165] In one achievable manner, the motor power and the battery driving power may be simultaneously input into a trained third torque determination model, and the third torque determination model outputs the maximum feedback torque of the motor according to the motor power, the battery driving power and the model parameters.

[0166] In another possible implementation, the maximum regenerative torque of the motor can be calculated based on the battery drive power, the motor power and the preset torque calculation parameter. The torque calculation parameter is a fixed parameter determined based on a large number of experiments. In this application, the torque calculation parameter can be 9550. For example, the maximum regenerative torque of the motor can be calculated based on the motor power, the battery drive power, the motor efficiency and the motor speed with reference to the following formula (1).

[0167] (1)

[0168] Among them, T initial(max) is the maximum feedback torque; P Batt is the battery driving power; P engine is the motor power. Furthermore, when the motor is working to generate electricity, P engine When the value is negative and not working, P engine The value is 0; is the motor efficiency; n is the motor speed; P r is the high-voltage load power of the air conditioner and other equipment in the target vehicle, and the value is negative. It can be understood that the high-voltage load power of the air conditioner and other equipment has little impact on the vehicle, so P in formula (1) can be ignored. r .

[0169] In an embodiment of the present application, the driving demand torque is determined in the torque mapping relationship according to the vehicle speed and the current accelerator pedal opening, and the maximum feedback torque is determined according to the motor power and the battery drive power, thereby ensuring the accuracy of the driving demand torque and the maximum feedback torque.

[0170] Figure 6 FIG. 2 is a flow chart of an energy recovery method in another embodiment. Based on the above embodiments, some embodiments provide an optional example of an energy recovery method. Figure 6 The specific implementation process is as follows:

[0171] S601, when it is determined that the target vehicle enters the energy recovery phase, the vehicle driving information of the target vehicle at the current sampling time is obtained.

[0172] S602: Determine the driving demand torque and the maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information.

[0173] In one implementable method, the vehicle driving information includes the vehicle driving speed, the current accelerator pedal opening, the motor power and the battery driving power; according to the vehicle driving speed and the current accelerator pedal opening corresponding to the current sampling moment, a search is performed in the torque mapping relationship to obtain the driving demand torque of the motor in the target vehicle at the current sampling moment; wherein the torque mapping relationship is the correspondence between the candidate driving speeds, the candidate accelerator pedal openings and the candidate demand torques; according to the motor power and the battery driving power, the maximum feedback torque of the motor at the current sampling moment is determined.

[0174] S603, determining the torque change rate according to the maximum feedback torque at each sampling moment in the current sampling period.

[0175] S604: Determine a relative change relationship between the driving demand torque and the vehicle driving speed in the current sampling period according to the driving demand torque corresponding to each sampling moment in the current sampling period and the vehicle driving speed in the vehicle driving information.

[0176] Among them, each sampling moment includes the current sampling moment.

[0177] S605, determining whether the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed in the current sampling period, if so, executing S606; if not, executing S609.

[0178] S606: Obtain a first parameter mapping relationship.

[0179] Among them, the first parameter mapping relationship and the second parameter mapping relationship are constructed based on the vehicle driving data of the sample vehicle at each sampling moment when entering the energy recovery stage; the vehicle driving data includes the vehicle driving information, the actual motor speed and the actual pressure change information of the brake master cylinder of the sample vehicle.

[0180] S607, when the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the first parameter mapping relationship based on the speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed, and the torque change rate, to obtain the motor speed adjustment parameter.

[0181] The speed adjustment parameter is a speed reduction parameter.

[0182] S608: When the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, a search is performed in the first parameter mapping relationship according to the torque change rate to obtain the pressure adjustment parameter of the brake master cylinder.

[0183] S609: Obtain a second parameter mapping relationship.

[0184] S610, determining a speed difference between a vehicle travel speed corresponding to a current sampling moment and a vehicle reference speed.

[0185] S611, searching in the second parameter mapping relationship according to the speed difference and the torque change rate to obtain a speed adjustment parameter of the motor.

[0186] The speed adjustment parameter is a speed reduction parameter or a speed increase parameter.

[0187] In one implementable method, when the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the second parameter mapping relationship based on the speed difference and the torque change rate to obtain the torque attenuation parameter of the next sampling moment; wherein the torque attenuation parameter is used to process the driving demand torque corresponding to the next sampling moment.

[0188] S612, based on the speed adjustment parameter of the motor / the pressure adjustment parameter of the brake master cylinder, controlling the target vehicle to perform energy recovery.

[0189] The specific process of S601-S612 can refer to the description of the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0190] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0191] Based on the same inventive concept, some embodiments further provide an energy recovery device for implementing the energy recovery method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more energy recovery device embodiments provided below can refer to the above limitations on the energy recovery method, and will not be repeated here.

[0192] In an exemplary embodiment, Figure 7 As shown, an energy recovery device 1 is provided, comprising: an information acquisition module 10, a torque determination module 20, a parameter determination module 30 and an energy recovery module 40, wherein:

[0193] The information acquisition module 10 is used to acquire the vehicle driving information of the target vehicle at the current sampling time when it is determined that the target vehicle enters the energy recovery phase;

[0194] The torque determination module 20 is used to determine the driving demand torque and the maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information;

[0195] The parameter determination module 30 is used to determine the target adjustment parameter according to the driving demand torque and the maximum feedback torque when it is determined that the target vehicle is in a forward-moving working condition; wherein the target adjustment parameter includes the speed adjustment parameter of the motor and / or the pressure adjustment parameter of the brake master cylinder;

[0196] The energy recovery module 40 is used to control the target vehicle to perform energy recovery based on the target adjustment parameters.

[0197] In an exemplary embodiment, the vehicle driving information includes the vehicle driving speed; the parameter determination module 30 includes:

[0198] A relationship determination unit, for determining a relative change relationship between the driving demand torque and the vehicle speed in the current sampling period according to the driving demand torque and the vehicle speed corresponding to each sampling moment in the current sampling period; wherein each sampling moment includes the current sampling moment;

[0199] A change rate determination unit, used to determine the torque change rate according to the maximum feedback torque at each sampling moment in the current sampling period;

[0200] The parameter determination unit is used to determine the target adjustment parameter according to the relative change relationship, the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment; wherein the vehicle reference speed is determined according to the speed corresponding to the motor of the target vehicle being at the highest efficiency point.

[0201] In an exemplary embodiment, the parameter determination unit includes:

[0202] The first subunit is used to obtain a parameter mapping relationship corresponding to the relative change relationship; wherein the parameter mapping relationship is constructed based on vehicle driving data of the sample vehicle at each sampling moment when the sample vehicle enters the energy recovery phase; the vehicle driving data includes vehicle driving information, real motor speed, and real pressure change information of the brake master cylinder of the sample vehicle;

[0203] The second subunit is used to search in the parameter mapping relationship according to the torque change rate, the vehicle reference speed and the vehicle running speed corresponding to the current sampling moment to obtain the target adjustment parameter.

[0204] In an exemplary embodiment, when the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed in the current sampling period, the parameter mapping relationship is a first parameter mapping relationship; further, the second subunit is specifically used for:

[0205] When the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the first parameter mapping relationship based on the speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed, as well as the torque change rate, to obtain the speed adjustment parameter of the motor; wherein the speed adjustment parameter is a speed reduction parameter; when the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, a search is performed in the first parameter mapping relationship based on the torque change rate to obtain the pressure adjustment parameter of the brake master cylinder.

[0206] In an exemplary embodiment, when the relative change relationship is that the driving demand torque decreases with the increase of the vehicle speed in the current sampling period, the parameter mapping relationship is a second parameter mapping relationship; further, the second subunit is further used to:

[0207] Determine the speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed; search in the second parameter mapping relationship according to the speed difference and the torque change rate to obtain the speed adjustment parameter of the motor; wherein the speed adjustment parameter is a speed reduction parameter or a speed increase parameter.

[0208] In an exemplary embodiment, the energy recovery device 1 further includes a torque attenuation module, wherein the torque attenuation module is specifically used for:

[0209] When the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the second parameter mapping relationship based on the speed difference and the torque change rate to obtain the torque attenuation parameter of the next sampling moment; wherein the torque attenuation parameter is used to process the driving demand torque corresponding to the next sampling moment.

[0210] In an exemplary embodiment, the vehicle driving information includes the vehicle driving speed, the current accelerator pedal opening, the motor power and the battery driving power; further, the torque determination module 20 is specifically used to:

[0211] According to the vehicle driving speed and the current accelerator pedal opening corresponding to the current sampling moment, a search is performed in the torque mapping relationship to obtain the driving demand torque of the motor in the target vehicle at the current sampling moment; wherein the torque mapping relationship is the correspondence between the candidate driving speeds, the candidate accelerator pedal openings and the candidate demand torques; according to the motor power and the battery drive power, the maximum feedback torque of the motor at the current sampling moment is determined.

[0212] Each module in the above energy recovery device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0213] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (Near Field Communication, NFC) or other technologies. When the computer program is executed by the processor, an energy recovery method is implemented.

[0214] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0215] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0216] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0217] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0218] The data involved in this application (including but not limited to vehicle driving information data, etc.) are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0219] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0220] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0221] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An energy recovery method, characterized in that: The method comprises: When it is determined that the target vehicle enters the energy recovery phase, obtaining vehicle driving information of the target vehicle at the current sampling time; Determine the driving demand torque and the maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information; wherein the vehicle driving information includes the vehicle driving speed; When it is determined that the target vehicle is in a forward-rushing condition according to the driving demand torque and the maximum feedback torque, a relative change relationship between the driving demand torque and the vehicle speed in the current sampling period is determined according to the driving demand torque and the vehicle speed corresponding to each sampling moment in the current sampling period; Wherein, each sampling moment includes the current sampling moment; the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed in the current sampling period, or the driving demand torque decreases with the increase of the vehicle speed in the current sampling period; Determining a target adjustment parameter according to the relative change relationship and the maximum feedback torque; wherein the target adjustment parameter includes a speed adjustment parameter of the motor and / or a pressure adjustment parameter of the brake master cylinder; Based on the target adjustment parameter, the target vehicle is controlled to perform energy recovery.

2. The method according to claim 1, characterized in that The determining of the target adjustment parameter according to the relative change relationship and the maximum feedback torque includes: Determining the torque change rate according to the maximum feedback torque at each sampling moment in the current sampling period; The target adjustment parameter is determined according to the relative change relationship, the torque change rate, the vehicle reference speed and the vehicle driving speed corresponding to the current sampling moment; wherein the vehicle reference speed is determined according to the rotational speed corresponding to the motor of the target vehicle being at the highest efficiency point.

3. The method according to claim 2, characterized in that The determining of the target adjustment parameter according to the relative change relationship, the torque change rate, the vehicle reference speed and the vehicle travel speed corresponding to the current sampling moment includes: Acquire a parameter mapping relationship corresponding to the relative change relationship; wherein the parameter mapping relationship is constructed based on vehicle driving data of the sample vehicle at each sampling moment when the sample vehicle enters the energy recovery phase; the vehicle driving data includes vehicle driving information, real motor speed, and real pressure change information of the brake master cylinder of the sample vehicle; According to the torque change rate, the vehicle reference speed and the vehicle travel speed corresponding to the current sampling moment, a search is performed in the parameter mapping relationship to obtain a target adjustment parameter.

4. The method according to claim 3, characterized in that In the case where the relative change relationship is that the driving demand torque increases with the increase of the vehicle driving speed in the current sampling period, the parameter mapping relationship is a first parameter mapping relationship; The searching in the parameter mapping relationship according to the torque change rate, the vehicle reference speed and the vehicle travel speed corresponding to the current sampling moment to obtain the target adjustment parameter includes: In the case where the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, searching in the first parameter mapping relationship according to the speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed, and the torque change rate, to obtain the speed adjustment parameter of the motor; wherein the speed adjustment parameter is a speed reduction parameter; When the vehicle speed corresponding to the current sampling moment is less than the vehicle reference speed, a search is performed in the first parameter mapping relationship according to the torque change rate to obtain the pressure adjustment parameter of the brake master cylinder.

5. The method according to claim 3, characterized in that: In the case where the relative change relationship is that the driving demand torque decreases with the increase of the vehicle driving speed in the current sampling period, the parameter mapping relationship is a second parameter mapping relationship; The searching in the parameter mapping relationship according to the torque change rate, the vehicle reference speed and the vehicle travel speed corresponding to the current sampling moment to obtain the target adjustment parameter includes: Determine a speed difference between the vehicle speed corresponding to the current sampling moment and the vehicle reference speed; According to the speed difference and the torque change rate, a search is performed in the second parameter mapping relationship to obtain a speed adjustment parameter of the motor; wherein the speed adjustment parameter is a speed reduction parameter or a speed increase parameter.

6. The method according to claim 5, characterized in that The method further comprises: When the vehicle speed corresponding to the current sampling moment is greater than or equal to the vehicle reference speed, a search is performed in the second parameter mapping relationship based on the speed difference and the torque change rate to obtain the torque attenuation parameter of the next sampling moment; wherein the torque attenuation parameter is used to process the driving demand torque corresponding to the next sampling moment.

7. The method according to claim 1, characterized in that The vehicle driving information includes vehicle driving speed, current accelerator pedal opening, motor power and battery driving power; The step of determining the driving demand torque and the maximum feedback torque of the motor in the target vehicle at the current sampling moment according to the vehicle driving information includes: According to the vehicle speed corresponding to the current sampling moment and the current accelerator pedal opening, searching in the torque mapping relationship to obtain the driving demand torque of the motor in the target vehicle at the current sampling moment; wherein the torque mapping relationship is a correspondence relationship between candidate driving speeds, candidate accelerator pedal openings and candidate demand torques; The maximum feedback torque of the motor at the current sampling moment is determined according to the motor power and the battery driving power.

8. An energy recovery device, characterized in that: The device comprises: An information acquisition module, used to acquire vehicle driving information of the target vehicle at a current sampling time when it is determined that the target vehicle enters an energy recovery phase; A torque determination module, configured to determine a driving demand torque and a maximum feedback torque of a motor in the target vehicle at the current sampling moment according to the vehicle driving information; wherein the vehicle driving information includes a vehicle driving speed; A parameter determination module, for determining, when it is determined that the target vehicle is in a forward-rushing condition according to the driving demand torque and the maximum feedback torque, a relative change relationship between the driving demand torque and the vehicle speed within the current sampling period according to the driving demand torque and the vehicle speed corresponding to each sampling moment within the current sampling period; wherein each sampling moment includes the current sampling moment; the relative change relationship is that the driving demand torque increases with the increase of the vehicle speed within the current sampling period, or the driving demand torque decreases with the increase of the vehicle speed within the current sampling period; determining a target adjustment parameter according to the relative change relationship and the maximum feedback torque; wherein the target adjustment parameter includes a speed adjustment parameter of a motor and / or a pressure adjustment parameter of a brake master cylinder; An energy recovery module is used to control the target vehicle to recover energy based on the target adjustment parameter.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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