Vehicle control method, device, storage medium and vehicle

Abstract

The present disclosure relates to a vehicle control method, device, storage medium and vehicle. The method comprises: in the case that the vehicle is in an energy recovery mode and a current temperature of a monitored object of the vehicle does not satisfy a preset condition, determining a predicted working power of an electric device of the vehicle, the predicted working power being greater than an initial working power of the electric device; in the case that the vehicle satisfies a recovery energy promotion condition according to at least the initial energy recovery power, the initial charging power, the initial working power, the predicted working power and the maximum allowed recovery power, promoting the initial energy recovery power of the vehicle to a target energy recovery power; and controlling the vehicle to perform energy recovery according to the target energy recovery power, the promoted energy recovery power being used to increase the power of the electric device, so that the power of the electric device can be increased to quickly make the temperature of the monitored object satisfy the preset condition, thereby reducing the energy consumption of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of vehicles, and more specifically, to a vehicle control method, apparatus, storage medium, and vehicle. Background Technology

[0002] With the rapid development of electric vehicles, electric vehicles are usually equipped with regenerative braking, which means that when the vehicle is braking, energy is recovered and can be used to charge the battery or support the consumption of the vehicle's electrical equipment.

[0003] During vehicle braking, the level of energy recovery affects the vehicle's energy consumption. Therefore, improving energy recovery is one of the effective ways to reduce vehicle energy consumption. Summary of the Invention

[0004] To achieve the above objectives, this disclosure provides a vehicle control method, apparatus, storage medium, and vehicle.

[0005] In a first aspect, this disclosure provides a vehicle control method, including:

[0006] When the vehicle is in energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset conditions, the expected operating power of the vehicle's electrical equipment is determined, and the expected operating power is greater than the initial operating power of the electrical equipment.

[0007] The initial charging power of the vehicle's power battery, the initial energy recovery power of the vehicle, and the maximum allowable energy recovery power of the vehicle's drive motor are obtained.

[0008] If, based at least on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum permissible recovery power, the vehicle meets the conditions for increasing energy recovery, the initial energy recovery power of the vehicle is increased to the target energy recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment.

[0009] The vehicle is controlled to recover energy according to the target energy recovery power.

[0010] Optionally, the method further includes:

[0011] If the initial energy recovery power is greater than the initial total power consumption and the first candidate energy recovery power is less than the maximum allowable recovery power, it is determined that the vehicle meets the conditions for increasing energy recovery.

[0012] Wherein, the initial total power consumption is the sum of the initial charging power and the initial operating power, the first candidate energy recovery power is the sum of the initial charging power and the expected operating power, and the target energy recovery power is the first candidate energy recovery power.

[0013] Optionally, the electrical equipment includes a heat dissipation device, and determining the expected operating power of the vehicle's electrical equipment includes:

[0014] Determine the difference between the current temperature of the monitored object and the preset operating temperature;

[0015] The power coefficient of the electrical equipment is determined based on the magnitude of the difference, and the difference and the power coefficient are positively correlated.

[0016] The expected operating power is determined based on the power coefficient and the initial operating power.

[0017] Optionally, the electrical equipment includes a heat dissipation device, and the method further includes:

[0018] If the difference between the initial energy recovery power and the expected operating power is greater than the initial charging power, and the second candidate energy recovery power is less than the maximum allowable recovery power, then the vehicle is determined to meet the conditions for increasing energy recovery.

[0019] Wherein, the second candidate energy recovery power is the sum of the initial charging power and the maximum allowable operating power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

[0020] Optionally, the method further includes:

[0021] If the initial energy recovery power is less than or equal to the initial total power consumption, the vehicle is determined to meet the condition of maintaining the initial energy recovery power.

[0022] If the initial energy recovery power is greater than the expected operating power, the initial charging power is reduced to obtain the target charging power of the power battery; and,

[0023] The expected operating power is determined as the target operating power of the electrical equipment, and the target charging power is the difference between the initial energy recovery power and the expected operating power.

[0024] Optionally, the method further includes:

[0025] The operation of the electrical equipment is controlled according to the target operating power of the electrical equipment, wherein the target operating power is the maximum allowable regenerative power or the expected operating power;

[0026] The power battery is charged according to the target charging power, wherein the target charging power is the initial charging power or the charging power obtained by reducing the initial charging power.

[0027] Optionally, the electrical equipment includes heating equipment, the monitored object includes the power battery, and determining the expected operating power of the vehicle's electrical equipment includes:

[0028] Based on the obtained preset power coefficient and the initial operating power of the electrical equipment, the expected operating power of the vehicle's electrical equipment is determined.

[0029] Secondly, this disclosure provides a vehicle control device, comprising:

[0030] The first determining module is used to determine the expected operating power of the vehicle's electrical equipment when the vehicle is in energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset conditions. The expected operating power is greater than the initial operating power of the electrical equipment.

[0031] The acquisition module is used to acquire the initial charging power of the vehicle's power battery, the initial energy recovery power of the vehicle, and the maximum allowable energy recovery power of the vehicle's drive motor.

[0032] The second determining module is used to increase the initial energy recovery power of the vehicle to a target energy recovery power when, based at least on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum allowable recovery power, the vehicle meets the conditions for increasing energy recovery power. The increased energy recovery power is used to increase the power of the electrical equipment.

[0033] The first control module is used to control the vehicle to perform energy recovery according to the target energy recovery power.

[0034] Thirdly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0035] Fourthly, this disclosure provides a vehicle including the vehicle control device described in the second aspect.

[0036] Through the above technical solution, when the vehicle is in energy recovery mode and the current temperature of the monitored object does not meet the preset conditions, the expected operating power of the vehicle's electrical equipment is determined, and the expected operating power is greater than the initial operating power of the electrical equipment. Then, after determining that the vehicle meets the conditions for increasing energy recovery based at least on the initial energy recovery power, initial charging power, initial operating power, expected operating power, and maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to the target energy recovery power. Finally, the vehicle is controlled to recover energy according to the target energy recovery power, thereby improving the vehicle's energy recovery. The increased energy recovery power is used to increase the power of the electrical equipment. Increasing the power of the electrical equipment can quickly make the temperature of the monitored object meet the preset conditions, thereby reducing the vehicle's energy consumption.

[0037] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 This is a schematic diagram of a vehicle system according to an exemplary embodiment of the present disclosure.

[0040] Figure 2 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure.

[0041] Figure 3 This is another flowchart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure.

[0042] Figure 4 This is a block diagram of a vehicle control device according to an exemplary embodiment.

[0043] Figure 5 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0044] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0045] In related technologies, energy recovery only considers the battery's allowable charging power and the operating power of electrical equipment, without taking into account the actual operating conditions of certain vehicle devices. This fails to maximize the utilization of energy recovered by the energy recovery system. Furthermore, recovered energy is generally used for charging the power battery and consuming power from vehicle electrical equipment. If the power of power battery charging and vehicle electrical equipment is not allocated reasonably, excessive use of recovered energy for power battery charging, coupled with the multiple energy conversions required during battery charging, may result in low efficiency of recovered energy utilization and also affect battery life.

[0046] Figure 1 This is a schematic diagram of a vehicle system according to an exemplary embodiment of the present disclosure. (Refer to...) Figure 1 The vehicle's system includes a vehicle controller, a thermal manager, a drive motor, a power battery, and a power electronics unit. The thermal manager may further include a cooling air conditioner, a cooling fan, and an electric heater.

[0047] The vehicle controller can collect vehicle information, such as the temperature of the drive motor, the temperature of the power battery, the temperature of the power electronics unit, the maximum allowable regenerative braking power of the drive motor, the maximum allowable charging power of the power battery, the operating power of the air conditioning system, the operating power of the cooling fan, and the operating power of the electric heater, etc. The vehicle controller can also calculate the energy recovery power, and the drive motor performs energy recovery based on the calculated energy recovery power.

[0048] Figure 2 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure, which can be... Figure 1 The vehicle control method, executed by the vehicle controller shown, includes:

[0049] Step 210: When the vehicle is in energy recovery mode and the current temperature of the monitored object on the vehicle does not meet the preset conditions, determine the expected operating power of the vehicle's electrical equipment. The expected operating power is greater than the initial operating power of the electrical equipment.

[0050] In this embodiment, when the vehicle is decelerating, braking, or not pressing the accelerator pedal, it can be determined that the vehicle is in energy recovery mode.

[0051] In this embodiment, the preset condition can be that the current temperature of the monitored object meets the expected temperature, which is the optimal temperature for the monitored object to operate. The expected temperature may also differ depending on the monitored object and the vehicle's thermal manager being in different modes.

[0052] For example, a vehicle can be in cooling mode, in which the electrical equipment can be the heat dissipation devices in a thermal manager, such as... Figure 1The air conditioner and cooling fan shown may be monitored by at least one of a drive motor, a power battery, and a power electronic unit. Accordingly, if the current temperature of the monitored object is greater than or equal to a first preset temperature threshold, it is determined that the current temperature of the monitored object does not meet the preset condition; if the current temperature of the monitored object is less than the first preset temperature threshold, it is determined that the current temperature of the monitored object meets the preset condition.

[0053] For example, the vehicle can be in heating mode, and in heating mode, the electrical equipment can be heating devices in the thermal manager, such as... Figure 1 The electric heater shown may be monitored by a power battery. Accordingly, if the current temperature of the monitored object is less than or equal to a second preset temperature threshold, it is determined that the current temperature of the monitored object does not meet the preset conditions; if the current temperature of the monitored object is greater than the second preset temperature threshold, it is determined that the current temperature of the monitored object meets the preset conditions. Wherein, when the monitored object is a power battery, the first preset temperature threshold is greater than the second preset temperature threshold.

[0054] Step 220: Obtain the initial charging power of the vehicle's power battery, the initial energy recovery power of the vehicle, and the maximum allowable energy recovery power of the vehicle's drive motor.

[0055] It should be noted that the initial charging power of the power battery is the allowable charging power of the power battery. Generally, during charging, this charging power should not be exceeded.

[0056] It should be noted that the initial charging power, initial energy recovery power, and maximum allowable recovery power of the drive motor are calculated by the vehicle controller based on the vehicle's operating conditions. The specific calculation method can be found in relevant technologies. The initial energy recovery power calculated by the vehicle controller can be greater than, less than, or equal to, the sum of the initial charging power and the initial operating power. The final energy recovery power executed by the drive motor can be determined based on actual conditions. In relevant technologies, the minimum of the sum of the initial charging power and the initial operating power and the maximum allowable recovery power is generally selected as the final energy recovery power executed by the drive motor.

[0057] Step 230: If the vehicle meets the conditions for increasing energy recovery based at least on the initial energy recovery power, initial charging power, initial operating power, expected operating power and maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to the target energy recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment.

[0058] It is worth noting that there are limitations to increasing the energy recovery power of a vehicle. For example, the energy recovery power of the vehicle's drive motor after the increase must be less than the maximum allowable recovery power, and the initial energy recovery power must be greater than the sum of the initial operating power and the initial charging power of the electrical equipment, etc.

[0059] The implementation method for determining whether a vehicle meets the conditions for increasing energy recovery based on the initial energy recovery power, initial charging power, initial operating power, expected operating power, and maximum allowable recovery power can be referred to in the following embodiment, which will not be elaborated here.

[0060] Step 240: Control the vehicle to recover energy according to the target energy recovery power.

[0061] It should be understood that the target energy recovery power is the energy recovery power ultimately performed by the drive motor, and the recovered energy is used for the consumption of electrical equipment and the charging of the power battery.

[0062] As an example, the vehicle control method may further include: controlling the operation of the electrical equipment according to the target operating power of the electrical equipment, wherein the target operating power is the maximum allowable regenerative power or the expected operating power. The determination of the target operating power can be referred to the following embodiments, which will not be elaborated upon here.

[0063] As an example, the vehicle control method may further include: charging the power battery according to a target charging power, wherein the target charging power is the initial charging power or a charging power obtained by reducing the initial charging power. The determination of the target charging power can be referred to in the following embodiments, which will not be elaborated upon here.

[0064] Through the above technical solution, when the vehicle is in energy recovery mode and the current temperature of the monitored object does not meet the preset conditions, the expected operating power of the vehicle's electrical equipment is determined, and the expected operating power is greater than the initial operating power of the electrical equipment. Then, after determining that the vehicle meets the conditions for increasing energy recovery based at least on the initial energy recovery power, initial charging power, initial operating power, expected operating power, and maximum allowable recovery power, the initial energy recovery power of the vehicle is increased to the target energy recovery power. Finally, the vehicle is controlled to recover energy according to the target energy recovery power, thereby improving the vehicle's energy recovery. The increased energy recovery power is used to increase the power of the electrical equipment to quickly make the temperature of the monitored object meet the preset conditions, thereby reducing the vehicle's energy consumption.

[0065] In some embodiments, the vehicle control method described above may further include: determining that the vehicle meets the conditions for increasing energy recovery when the initial energy recovery power is greater than the initial total power consumption and the first candidate energy recovery power is less than the maximum allowable recovery power, wherein the initial total power consumption is the sum of the initial charging power and the initial operating power, the first candidate energy recovery power is the sum of the initial charging power and the expected operating power, and the target energy recovery power is the first candidate energy recovery power.

[0066] In this embodiment, the first candidate energy recovery power can be understood as the estimated energy recovery power. Compared with the initial energy recovery power, this energy recovery power is equivalent to adding a target difference power, which is the difference between the expected operating power and the initial operating power.

[0067] It should be understood that when the initial energy recovery power is greater than the initial total power consumption, it means that the calculated initial energy recovery power exceeds the sum of the initial operating power and the initial charging power of the electrical equipment. The operating power of the electrical equipment can be appropriately increased. If the first candidate energy recovery power is less than the maximum allowable recovery power, it means that even if the initial operating power of the electrical equipment is increased to the expected operating power and the value obtained by adding the initial charging power is less than the maximum allowable recovery power, it meets the conditions for increasing energy recovery.

[0068] In this embodiment, a portion of the recovered target energy power is used to charge the power battery at its initial charging power, meaning the target charging power of the power battery remains the initial charging power. The other portion of the recovered target energy power is used to operate the electrical equipment at its expected operating power, meaning the target operating power of the electrical equipment is the expected operating power. This achieves the goal of increasing the power of the electrical equipment, allowing the current temperature of the monitored object to quickly meet the preset conditions. Furthermore, in this embodiment, the difference between the target energy recovery power and the initial energy recovery power is equal to the difference between the expected operating power and the initial operating power.

[0069] In this embodiment, the electrical equipment can be a heat dissipation device or a heating device.

[0070] In this way, when the current temperature of the monitored object does not meet the preset conditions, and it is determined that the increased energy recovery meets the conditions for improving the vehicle's energy recovery, the power of the electrical equipment is increased, thereby increasing the energy recovery power. The increased recovered energy is used to increase the power of the electrical equipment and is not used for charging and discharging the power battery, which extends the battery life, reduces the energy conversion of the battery, and improves the utilization efficiency of energy recovery.

[0071] In some embodiments, the electrical equipment includes a heat dissipation device, and determining the expected operating power of the vehicle's electrical equipment may include: determining the difference between the current temperature of the monitored object and a preset operating temperature; determining the power coefficient of the electrical equipment based on the magnitude of the difference, wherein the difference and the power coefficient are positively correlated; and determining the expected operating power of the vehicle's electrical equipment based on the power coefficient and the initial operating power of the electrical equipment.

[0072] In this embodiment, the monitored object can be any one of the drive motor, power battery, and power electronic unit.

[0073] In this embodiment, the preset operating temperature has the same physical meaning as the expected temperature mentioned above.

[0074] The power coefficient can be understood as an increased power coefficient, and the sum of the increased power coefficient and the number 1 is used as the power growth coefficient, as shown in the table below:

[0075]

[0076] In the table above, as the difference increases, the power coefficient also increases, meaning the difference and the power coefficient are positively correlated. Furthermore, the product of the power growth coefficient and the initial operating power is the expected operating power. For example, the expected operating power can be determined using the following formula: Expected operating power = Initial operating power × (1 + Power coefficient), where 1 + Power coefficient is the power growth coefficient.

[0077] Understandably, when the current temperature of the monitored object differs significantly from the preset operating temperature, it is desirable to cool the monitored object as quickly as possible to ensure the normal operation of the vehicle. This allows for an increase in the target energy recovery power while meeting the energy recovery enhancement requirements of the vehicle, thereby increasing the operating power of the electrical equipment. Furthermore, different power coefficients are set based on the difference between the current temperature of the monitored object and the preset operating temperature to determine the expected operating power. The greater the difference, the larger the power coefficient is set, thus enabling the monitored object to quickly meet the preset conditions after the electrical equipment operates at high power.

[0078] In some embodiments, the electrical equipment includes a heating device, and determining the expected operating power of the vehicle's electrical equipment may include: determining the expected operating power of the vehicle's electrical equipment based on an acquired preset power factor and the initial operating power of the electrical equipment.

[0079] As can be seen from the above, when electrical equipment includes heating equipment, the object being monitored is the power battery.

[0080] In this embodiment, the product of a preset power factor and the initial operating power of the electrical equipment can be used as the expected operating power. As an example, the preset power factor can be 1.05.

[0081] It should be understood that the temperature control of power batteries is quite strict, and it is not always better to lower the temperature. Therefore, a larger power coefficient cannot be set based on the greater the temperature difference. Instead, an optimal power coefficient that does not affect the operation of the power battery can be set according to the actual situation, i.e., a preset power coefficient, to determine the expected operating power of the heating equipment.

[0082] In some embodiments, the electrical equipment includes a heat dissipation device, and the vehicle control method may further include: determining that the vehicle meets the conditions for increasing energy recovery when the difference between the initial energy recovery power and the expected operating power is greater than the initial charging power and the second candidate energy recovery power is less than the maximum allowable recovery power, wherein the second candidate energy recovery power is the sum of the initial charging power and the maximum allowable operating power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

[0083] As can be seen from the above, the temperature control of the power battery is quite strict for heating equipment; lower is not always better. Therefore, the power coefficient of the heating equipment cannot be determined based on the temperature difference. Thus, this embodiment is limited to heat dissipation equipment.

[0084] It should be understood that if the difference between the initial energy recovery power and the expected operating power is greater than the initial charging power, it means that there is still surplus recovered energy that can be used to increase the operating power of the heat dissipation equipment. Therefore, when determining the target energy recovery power, the power-up factor can be disregarded, and the maximum operating power of the electrical equipment can be directly used to calculate whether it is less than the maximum allowable recovery power. At the same time, in order to meet the condition that the executed energy recovery power does not exceed the maximum allowable recovery power, when the sum of the initial charging power and the maximum allowable operating power of the electrical equipment is less than the maximum allowable recovery power, the sum of the initial charging power and the maximum allowable operating power of the electrical equipment shall be used as the target energy recovery power.

[0085] In this embodiment, the target operating power of the electrical equipment is the maximum allowable operating power. The target charging power of the power battery is the initial charging power.

[0086] By using the methods described above, while ensuring energy recovery, the power of electrical equipment can be maximized to achieve the goal of increasing energy recovery.

[0087] In some embodiments, the vehicle control method described above may further include: determining that the vehicle meets the conditions for maintaining the initial energy recovery power when the initial energy recovery power is less than or equal to the initial total power consumption; reducing the initial charging power to obtain the target charging power of the power battery when the initial energy recovery power is greater than the expected operating power; and determining the expected operating power as the target operating power of the electrical equipment, wherein the target charging power is the difference between the initial energy recovery power and the expected operating power.

[0088] It is worth noting that if the initial energy recovery power is less than or equal to the initial total power consumption, it means that the vehicle cannot support a further increase in the initial energy recovery power. However, in order to reduce the multiple energy conversions during the battery charging and discharging process and improve the efficiency of energy recovery, more of the recovered energy in the initial energy recovery power can be allocated to electrical equipment to increase the power of the electrical equipment.

[0089] Specifically, since the initial energy recovery power is greater than the expected operating power, the recovered energy can be directly allocated to the electrical equipment at the expected operating power, i.e., the target operating power is the expected operating power; while the charging power of the power battery needs to be reduced, i.e., the target charging power is the difference between the initial energy recovery power and the expected operating power, i.e., the reduction in the initial charging power is equal to the increase in the initial operating power.

[0090] In this embodiment, the electrical equipment can be a heat dissipation device or a heating device.

[0091] In some embodiments, when the initial energy recovery power is less than or equal to the expected operating power of the electrical equipment, the initial energy recovery power is maintained and used as the target energy recovery power to achieve energy recovery. All recovered energy is used as the target operating efficiency of the electrical equipment. It should be understood that there is no need to charge the power battery at this time, that is, the target charging power of the power battery is 0, so as to avoid multiple energy conversions during the battery charging and discharging process and improve the utilization efficiency of the recovered energy.

[0092] In some embodiments, after exiting the energy recovery mode, the monitored object is heated or cooled according to the original control strategy. This strategy can be set according to actual conditions, for example, reducing the power operation of the electrical equipment to reduce power battery consumption. In addition, other strategies can be set, which will not be described in detail in this embodiment.

[0093] Figure 3 This is another flowchart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure. (Refer to...) Figure 3First, after determining that the vehicle is in energy recovery mode, the vehicle controller collects information. Taking the following information collected by the vehicle controller as an example: drive motor temperature T1, power battery temperature T2, power electronics unit temperature T3, maximum allowable energy recovery power of the drive motor P1, initial charging power of the power battery P2, initial operating power of the air conditioning system P3, initial operating power of the cooling fan P4, initial operating power of the electric heater P5, initial operating power of electrical equipment P6, initial energy recovery power P7, and initial vehicle accessory power P6, which has the same physical meaning as the initial operating power of the aforementioned electrical equipment. It should be understood that the air conditioning system, cooling fan, and electric heater are electrical equipment used in different modes. Furthermore, in cooling mode, P5 is zero; in heating mode, P3 and P4 are zero. The vehicle's current mode can be determined based on whether P3, P4, and P5 are zero. In cooling mode, P6 = P3 + P4; in heating mode, P6 = P5. Hereinafter, the sum of P3 and P4 will be referred to as P6. 1 The embodiments disclosed herein will be further explained and described.

[0094] After collecting the information, in cooling mode, with the electric heating power at 0, it is determined whether the current temperature of the drive motor, power battery, and power electronics unit does not meet the corresponding preset conditions. If so, the expected operating power P6 of the vehicle's electrical equipment is determined. 1 new As an example, if any of the following conditions a, b, and c are true, it is determined that the corresponding preset condition is not met.

[0095] Condition a: The temperature T1 of the drive motor is higher than the first preset temperature threshold of the drive motor;

[0096] Condition b: The temperature T2 of the power battery is higher than the first preset temperature threshold of the power battery;

[0097] Condition c: The temperature T3 of the power electronic unit is higher than the first preset temperature threshold of the power electronic unit.

[0098] Next, since it is a cooling mode, the expected operating power P6 of the vehicle's electrical equipment in the cooling mode is determined according to the implementation method described above. 1 new .

[0099] In P7 greater than P6 1 +P2, and P7+P6 1 new - P6 1 If the value is less than P1, the vehicle meets the conditions for increasing energy recovery. Furthermore, the target energy recovery power becomes P7. new =P2+P6 1 newThat is, the drive motor is based on P7 new Energy recovery is performed, and the increased recovered energy is P6. 1 new - P6 1 The target charging power is P2, and the target operating power is P6. 1 new .

[0100] In P7 and P6 1 new The difference between them is greater than P2 and P7 + P6 1 new1 If the value is less than P1, the vehicle meets the conditions for increasing energy recovery. Furthermore, the target energy recovery power becomes P7. new =P2+P6 1 new1 P6 1 new1 = P2 + P3max + P4max, where P3max is the maximum allowable operating power of the air conditioner, P4max is the maximum allowable operating power of the cooling fan, the target charging power is P2, and the target operating power is P6. 1 new1 .

[0101] When P7 is less than P6 1 At +P2, it is determined that the vehicle meets the condition of maintaining the initial energy recovery power, and P7 remains unchanged, that is, the target energy recovery power is P7, and if P7 is greater than P6... 1 new Then P6 1 new As the target operating power, the charging power of the power battery is reduced simultaneously, meaning the target charging power becomes P7-P6. 1 new .

[0102] When P7 is less than or equal to P6, the target energy recovery power is P7, and P7 is the power of the electrical equipment. That is, the target operating power of the electrical equipment is P7, and the target charging power of the power battery is 0, so charging is not performed.

[0103] When the vehicle exits energy recovery, the following strategy is implemented, and the following conditions are considered:

[0104] Condition d: The current temperature of the drive motor is lower than the preset temperature t1;

[0105] Condition e: The current temperature of the power battery is lower than the preset temperature t2;

[0106] Condition f: The current temperature of the power electronics unit is lower than the preset temperature t3;

[0107] When all of the above conditions d, e, and f are met, the refrigeration air conditioner and cooling fan operate at zero power. When any of the above conditions d, e, and f are not met, the original control strategy is executed. The original control strategy can be referred to in the above embodiment.

[0108] After collecting the information, in heating mode, the power of the air conditioner and cooling fan is 0. It is then determined whether the current temperature of the power battery does not meet the corresponding preset conditions. If so, the expected operating power P5 of the vehicle's electrical equipment is determined. new Since it's in heating mode, following the example above, P5 new = P5×1.05.

[0109] When P7 is greater than P2+P5, and P7+P5 new If P5 is less than P1, the vehicle meets the conditions for increasing energy recovery. The target energy recovery power then becomes P7. new =P2+P5 new That is, the drive motor is based on P7 new Perform energy recovery, increasing the recovered energy by P5. new -P5, target charging power is P2, target operating power is P5 new .

[0110] When P7 is less than P2 + P5, the vehicle meets the condition of maintaining the initial energy recovery power, and P7 remains unchanged, meaning the target energy recovery power is P7. If P7 is greater than P5... new Then P5 new As the target operating power, the charging power of the power battery is reduced, meaning the target charging power becomes P7-P5. new .

[0111] When P7 is less than or equal to P5, the target energy recovery power is P7, and P7 is the power of the electrical equipment, that is, the target operating power of the electrical equipment is P5.

[0112] When the vehicle exits energy recovery, the original control strategy is executed, which can be referred to in the above embodiment.

[0113] Based on the same concept, this disclosure provides a vehicle control device. Figure 4 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment. (Refer to...) Figure 4 The vehicle control device 400 includes:

[0114] The first determining module 401 is used to determine the expected operating power of the vehicle's electrical equipment when the vehicle is in energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset conditions. The expected operating power is greater than the initial operating power of the electrical equipment.

[0115] The acquisition module 402 is used to acquire the initial charging power of the vehicle's power battery, the initial energy recovery power of the vehicle, and the maximum allowable energy recovery power of the vehicle's drive motor.

[0116] The second determining module 403 is used to increase the initial energy recovery power of the vehicle to a target energy recovery power when the vehicle meets the conditions for increasing energy recovery power based at least on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum allowable recovery power. The increased energy recovery power is used to increase the power of the electrical equipment.

[0117] The first control module 404 is used to control the vehicle to perform energy recovery according to the target energy recovery power.

[0118] Optionally, the vehicle control device 400 further includes:

[0119] The third determining module is used to determine that the vehicle meets the conditions for increasing energy recovery when the initial energy recovery power is greater than the initial total power consumption and the first candidate energy recovery power is less than the maximum allowable recovery power.

[0120] Wherein, the initial total power consumption is the sum of the initial charging power and the initial operating power, the first candidate energy recovery power is the sum of the initial charging power and the expected operating power, and the target energy recovery power is the first candidate energy recovery power.

[0121] Optionally, the electrical equipment includes a heat dissipation device, and the first determining module 401 includes:

[0122] The first determining submodule is used to determine the difference between the current temperature of the monitored object and the preset operating temperature;

[0123] The second determining submodule is used to determine the power coefficient of the electrical equipment based on the magnitude of the difference, wherein the difference and the power coefficient are positively correlated.

[0124] The third determining submodule is used to determine the expected operating power based on the power coefficient and the initial operating power.

[0125] Optionally, the electrical equipment includes a heat dissipation device, and the vehicle control device 400 further includes:

[0126] The fourth determining module is used to determine that the vehicle meets the conditions for increasing energy recovery when the difference between the initial energy recovery power and the expected operating power is greater than the initial charging power and the second candidate energy recovery power is less than the maximum allowable recovery power.

[0127] Wherein, the second candidate energy recovery power is the sum of the initial charging power and the maximum allowable operating power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

[0128] Optionally, the vehicle control device 400 further includes:

[0129] The fifth determining module is used to determine that the vehicle meets the conditions for maintaining the initial energy recovery power when the initial energy recovery power is less than or equal to the initial total power consumption.

[0130] A power reduction module is used to reduce the initial charging power when the initial energy recovery power is greater than the expected operating power, so as to obtain the target charging power of the power battery; and,

[0131] The sixth determining module is used to determine the expected operating power as the target operating power of the electrical equipment, wherein the target charging power is the difference between the initial energy recovery power and the expected operating power.

[0132] Optionally, the vehicle control device 400 further includes:

[0133] The second control module is used to control the operation of the electrical equipment according to the target operating power of the electrical equipment, wherein the target operating power is the maximum allowable regenerative power or the expected operating power;

[0134] The third control module is used to charge the power battery according to the target charging power of the power battery, wherein the target charging power is the initial charging power or the charging power obtained by reducing the initial charging power.

[0135] Optionally, the electrical equipment includes a heating device, the monitored object includes the power battery, and the first determining module 401 further includes:

[0136] The fourth determining submodule is used to determine the expected operating power of the vehicle's electrical equipment based on the acquired preset power coefficient and the initial operating power of the electrical equipment.

[0137] The implementation methods of each module in the vehicle control device 400 can refer to the above method embodiments, and will not be repeated here.

[0138] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method provided in this disclosure.

[0139] This disclosure also provides a vehicle including the vehicle control device provided in this disclosure.

[0140] Figure 5 This is a block diagram illustrating a vehicle according to an exemplary embodiment. For example, vehicle 500 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 500 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0141] Reference Figure 5 The vehicle 500 may include various subsystems, such as an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. The vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 500 can be interconnected via wired or wireless means.

[0142] In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, and a navigation system, etc.

[0143] The perception system 520 may include several sensors for sensing information about the environment surrounding the vehicle 500. For example, the perception system 520 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0144] The decision control system 530 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0145] The drive system 540 may include components that provide powered motion to the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0146] Some or all of the functions of vehicle 500 are controlled by computing platform 550. Computing platform 550 may include at least one first processor 551 and memory 552, the first processor 551 being able to execute instructions 553 stored in memory 552.

[0147] The first processor 551 can be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processing unit (GPU), a field-programmable gate array (FPGA), a system on a chip (SOC), an application-specific integrated circuit (ASIC), or a combination thereof.

[0148] The memory 552 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0149] In addition to instruction 553, memory 552 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 552 can be used by computing platform 550.

[0150] In this embodiment of the disclosure, the first processor 551 may execute instructions 553 to complete all or part of the steps of the vehicle control method described above.

[0151] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0152] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0153] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle control method, characterized in that, include: When the vehicle is in energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset conditions, the expected operating power of the vehicle's electrical equipment is determined, and the expected operating power is greater than the initial operating power of the electrical equipment. The initial charging power of the vehicle's power battery, the initial energy recovery power of the vehicle, and the maximum allowable energy recovery power of the vehicle's drive motor are obtained. If, based at least on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum permissible recovery power, the vehicle meets the conditions for increasing energy recovery, the initial energy recovery power of the vehicle is increased to the target energy recovery power, and the increased energy recovery power is used to increase the power of the electrical equipment. The vehicle is controlled to recover energy according to the target energy recovery power. The method further includes: if the initial energy recovery power is less than or equal to the initial total power consumption, determining that the vehicle meets the conditions for maintaining the initial energy recovery power; If the initial energy recovery power is greater than the expected operating power, the initial charging power is reduced to obtain the target charging power of the power battery; and the expected operating power is determined as the target operating power of the electrical equipment, wherein the target charging power is the difference between the initial energy recovery power and the expected operating power.

2. The method according to claim 1, characterized in that, The method further includes: If the initial energy recovery power is greater than the initial total power consumption and the first candidate energy recovery power is less than the maximum allowable recovery power, it is determined that the vehicle meets the conditions for increasing energy recovery. Wherein, the initial total power consumption is the sum of the initial charging power and the initial operating power, the first candidate energy recovery power is the sum of the initial charging power and the expected operating power, and the target energy recovery power is the first candidate energy recovery power.

3. The method according to claim 1, characterized in that, The electrical equipment includes a heat dissipation device, and determining the expected operating power of the vehicle's electrical equipment includes: Determine the difference between the current temperature of the monitored object and the preset operating temperature; The power coefficient of the electrical equipment is determined based on the magnitude of the difference, and the difference and the power coefficient are positively correlated. The expected operating power is determined based on the power coefficient and the initial operating power.

4. The method according to claim 2, characterized in that, The electrical equipment includes a heat dissipation device, and the method further includes: If the difference between the initial energy recovery power and the expected operating power is greater than the initial charging power, and the second candidate energy recovery power is less than the maximum allowable recovery power, then the vehicle is determined to meet the conditions for increasing energy recovery. Wherein, the second candidate energy recovery power is the sum of the initial charging power and the maximum allowable operating power of the electrical equipment, and the target energy recovery power is the second candidate energy recovery power.

5. The method according to claim 1, 2, or 4, characterized in that, The method further includes: The operation of the electrical equipment is controlled according to the target operating power of the electrical equipment, wherein the target operating power is the maximum allowable regenerative power or the expected operating power; The power battery is charged according to the target charging power, wherein the target charging power is the initial charging power or the charging power obtained by reducing the initial charging power.

6. The method according to claim 1, characterized in that, The electrical equipment includes heating equipment, the monitored object includes the power battery, and determining the estimated operating power of the vehicle's electrical equipment includes: Based on the obtained preset power coefficient and the initial operating power of the electrical equipment, the expected operating power of the vehicle's electrical equipment is determined.

7. A vehicle control device, characterized in that, include: The first determining module is used to determine the expected operating power of the vehicle's electrical equipment when the vehicle is in energy recovery mode and the current temperature of the monitored object of the vehicle does not meet the preset conditions. The expected operating power is greater than the initial operating power of the electrical equipment. The acquisition module is used to acquire the initial charging power of the vehicle's power battery, the initial energy recovery power of the vehicle, and the maximum allowable energy recovery power of the vehicle's drive motor. The second determining module is used to increase the initial energy recovery power of the vehicle to a target energy recovery power when, based at least on the initial energy recovery power, the initial charging power, the initial operating power, the expected operating power, and the maximum allowable recovery power, the vehicle meets the conditions for increasing energy recovery power. The increased energy recovery power is used to increase the power of the electrical equipment. The first control module is used to control the vehicle to perform energy recovery according to the target energy recovery power; The vehicle control device also includes: The fifth determining module is used to determine whether the vehicle meets the conditions for maintaining the initial energy recovery power when the initial energy recovery power is less than or equal to the initial total power consumption. A power reduction module is used to reduce the initial charging power when the initial energy recovery power is greater than the expected operating power, so as to obtain the target charging power of the power battery; and, The sixth determining module is used to determine the expected operating power as the target operating power of the electrical equipment, wherein the target charging power is the difference between the initial energy recovery power and the expected operating power.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-6.

9. A vehicle, characterized in that, Includes the vehicle control device as described in claim 7.

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