Braking energy recovery method and system based on OneBox braking system

Abstract

The invention discloses a braking energy recovery method and system based on an OneBox braking system, and belongs to the technical field of braking energy recovery. The method comprises the steps that the braking intention of a vehicle is collected in real time, and the braking intention is used for judging whether the vehicle is about to enter a braking state or not; distribution of electric braking and hydraulic braking is conducted on the vehicle according to the braking intention, and the braking requirement is determined; sending a braking energy recovery signal based on the braking demand; whether the vehicle is in an unstable state or not is judged, and if yes, the wheel side torque of the vehicle is increased; when the vehicle is not in an unstable state, the vehicle control unit receives a braking energy recovery signal and drives the motor to rotate reversely so as to recover braking energy; the braking energy is stored in the battery pack. The problem that the braking energy recovery efficiency is not high due to the fact that braking energy recovery quits once the ABS is triggered can be solved, and therefore the braking energy recovery efficiency of the vehicle is effectively improved.

Description

Technical Field

[0001] The present application belongs to the technical field of vehicle braking control, and specifically relates to a braking energy recovery method and system based on a OneBox braking system. Background Art

[0002] The automobile brake energy recovery system is an environmentally friendly and efficient technology. It can recover the energy generated by the vehicle during braking, downhill or coasting and convert it into electrical energy for storage, thereby improving the efficiency of energy utilization. Braking is inevitable during the driving process of the car. Traditional fuel vehicles consume a lot of energy during braking, and this energy is eventually dissipated into the environment in the form of heat energy. The brake energy recovery system can recover this part of energy and convert it into electrical energy for the subsequent driving of the vehicle, thereby significantly improving the efficiency of energy utilization. For electric vehicles or hybrid vehicles, the brake energy recovery system can extend their cruising range. By recovering braking energy and converting it into electrical energy, the vehicle can reduce the need to charge the battery during driving, thereby extending the battery life and the driving distance of the vehicle.

[0003] At present, in the automobile braking system, the anti-lock braking system (ABS) works together with the brake energy recovery system. When the ABS system recognizes that the wheel is locking, it will immediately intervene and adjust the brake pressure to prevent the wheel from locking, and exit the brake energy recovery at the same time. In electric vehicles or hybrid vehicles, the mechanism of exiting the brake energy recovery once the ABS is triggered ensures that the ABS can function normally to prevent the wheel from locking, but it affects the efficiency of brake energy recovery to a certain extent. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a braking energy recovery method and system based on a OneBox braking system, which can solve the problem that braking energy recovery is exited when ABS is triggered, resulting in low braking energy recovery efficiency.

[0005] In order to solve the above technical problems, this application is implemented as follows: In a first aspect, an embodiment of the present application provides a braking energy recovery method based on a OneBox braking system, the method comprising: Collect the vehicle's braking intention in real time, where the braking intention is used to determine whether the vehicle is about to enter a braking state; Distribute electric braking and hydraulic braking of the vehicle according to the braking intention to determine the braking demand; Based on the braking demand, a braking energy recovery signal is sent; Determine whether the vehicle is in an unstable state, and if so, increase the wheel torque of the vehicle; When the vehicle is not in an unstable state, the vehicle controller receives the braking energy recovery signal and drives the motor to reverse to recover braking energy; The braking energy is stored in the battery pack.

[0006] Further, in determining whether the vehicle is in an unstable state, if so, the step of increasing the wheel torque of the vehicle specifically includes: Acquire the vehicle's driving information in real time, the driving information at least including the vehicle's speed and wheel speed; Based on the driving information, the slip rate of the vehicle is obtained; During the process of braking energy recovery of the vehicle, determine whether the vehicle is in an unstable state; If the vehicle is in an unstable state, the wheel torque of the vehicle is increased; When the slip ratio is less than the preset value, the torque increase on the wheel side is stopped.

[0007] Furthermore, during the process of the vehicle performing brake energy recovery, the step of determining whether the vehicle is in an unstable state specifically includes: During the process of braking energy recovery of the vehicle, whether the vehicle is in an unstable state is determined according to the slip rate; If the slip ratio is greater than a preset value, the vehicle is determined to be in an unstable state; The slip rate calculation formula is: , in, Indicates the wheel speed of the vehicle, Indicates the vehicle's speed, Indicates the slip rate.

[0008] Furthermore, during the process of the vehicle performing brake energy recovery, the step of determining whether the vehicle is in an unstable state specifically includes: During the process of braking energy recovery, the vehicle is judged whether it is in an unstable state according to the front axle slip angle of the vehicle; If the front axle slip angle is greater than a preset degree, the vehicle is determined to be in an unstable state; The calculation formula of the front axle slip angle is: , in, Indicates the vehicle mass, represents the lateral acceleration, Indicates the tire sidewall stiffness, Indicates the front axle slip angle.

[0009] Furthermore, during the process of the vehicle performing brake energy recovery, the step of determining whether the vehicle is in an unstable state specifically includes: During the process of braking energy recovery of the vehicle, whether the vehicle is in an unstable state is determined based on the maximum lateral friction force and the lateral force of the vehicle; If the lateral force is greater than the maximum lateral friction force, the vehicle is judged to be in an unstable state; Among them, the calculation formulas for lateral force and maximum lateral friction are: , ， in, Indicates the vehicle mass, represents the lateral acceleration, Represents the acceleration due to gravity, take 9.8m / s 2 , represents the ground adhesion coefficient, represents the lateral force, Indicates the maximum lateral friction.

[0010] Furthermore, the step of collecting the braking intention of the vehicle in real time specifically includes: The vehicle's braking intention is collected in real time through the vehicle's brake push rod travel sensor; When the brake push rod travel sensor detects that the brake push rod travel reaches a preset distance, it is determined that the vehicle is about to enter a braking state; The preset distance is set according to at least one parameter of the vehicle type, load, driving speed and road conditions.

[0011] Furthermore, when the vehicle is not in an unstable state, the vehicle controller receives a braking energy recovery signal and drives the motor to reverse to recover braking energy, specifically including: Send braking requirements to the vehicle controller; The vehicle controller receives the braking demand signal and controls the motor to reverse to recover braking energy; The step of controlling the motor to reverse to recover braking energy further includes: The motor converts the kinetic energy of the vehicle into electrical energy which is stored in the battery pack.

[0012] In a second aspect, an embodiment of the present application provides a braking energy recovery system based on a OneBox braking system, the system comprising: A braking intention acquisition module is used to collect the braking intention of the vehicle in real time, wherein the braking intention is used to determine whether the vehicle is about to enter a braking state; A braking demand determination module is used to allocate electric braking and hydraulic braking to the vehicle according to the braking intention and determine the braking demand; The signal receiving module is used to send a braking energy recovery signal based on the braking demand; determine whether the vehicle is in an unstable state, and if so, increase the wheel torque of the vehicle; when the vehicle is not in an unstable state, the vehicle controller receives the braking energy recovery signal and drives the motor to reverse to recover braking energy; Energy recovery module, used to store braking energy in the battery pack.

[0013] In a third aspect, an embodiment of the present application provides a vehicle comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the method described in the first aspect are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0015] In a fifth aspect, an embodiment of the present application provides a chip, the chip including a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0016] In the embodiment of the present application, the braking intention of the vehicle is first collected in real time to determine whether the vehicle is about to enter the braking state; then the electric braking and hydraulic braking of the vehicle are allocated according to the braking intention of the vehicle to determine the braking demand, and the braking demand is accurately determined, which can optimize the energy utilization to the greatest extent; then based on the braking demand, a braking energy recovery signal is sent to trigger the vehicle's energy recovery system to start working; during the process of the vehicle's braking energy recovery, it is determined whether the vehicle is in an unstable state. If so, the wheel torque of the vehicle is increased to avoid the situation where the braking energy recovery is exited as soon as the anti-lock braking system is triggered; if the vehicle is not in an unstable state, the vehicle controller receives the braking energy recovery signal, drives the motor to reverse to recover the braking energy, and stores the braking energy in the battery pack, which improves the energy utilization efficiency and helps to extend the vehicle's cruising range. The present application can solve the problem of exiting the braking energy recovery as soon as the ABS is triggered, resulting in low braking energy recovery efficiency, thereby effectively improving the braking energy recovery efficiency of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart showing an implementation of a braking energy recovery method based on a OneBox braking system provided in an embodiment of the present application is shown; Figure 2 A structural schematic diagram of a braking energy recovery system based on a OneBox braking system provided in an embodiment of the present application is shown; Figure 3A schematic diagram showing the results of a vehicle using a braking energy recovery method based on a OneBox braking system provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally represents that the objects associated with each other are in an "or" relationship.

[0020] The braking energy recovery method based on the OneBox braking system provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0021] It is worth mentioning that the anti-lock braking system plays a key role in many scenarios. On slippery roads, such as rainy roads, snowy or icy roads, the wheels are prone to lock and lose control due to reduced friction when the vehicle brakes. ABS can effectively prevent this from happening, ensuring that the vehicle can still maintain a certain steering ability when braking, and avoid dangerous situations such as side slipping and tail swinging. In emergency braking scenarios, when the driver suddenly and vigorously steps on the brakes, ABS quickly intervenes and continuously adjusts the brake pressure to make the wheels roll and slide, which not only ensures the braking effect, but also allows the vehicle to drive according to the driver's intention, greatly improving the safety and stability of braking. However, when the anti-lock braking system keenly identifies the tendency of the wheel to lock, it will immediately intervene and accurately adjust the brake pressure, thereby effectively preventing the occurrence of wheel locking. However, during this process, the brake energy recovery function will be synchronously deactivated.

[0022] In the braking energy recovery method based on the OneBox braking system, when the system identifies that the wheels have a tendency to lock or the vehicle is in an unstable state, the OneBox braking system will issue a torque increase request to the vehicle controller, preventing the vehicle from locking and maintaining vehicle stability while maintaining the vehicle's recovery of braking energy, effectively improving the efficiency of braking energy recovery.

[0023] See also Figure 1 , which is a flowchart of an implementation of a braking energy recovery method based on a OneBox braking system provided in an embodiment of the present application, the method includes steps S101 to S107, wherein: Step S101: collecting the braking intention of the vehicle in real time.

[0024] In this embodiment, the purpose of collecting the vehicle's braking intention is to accurately determine whether the vehicle is about to enter a braking state. In some embodiments of the present application, the vehicle's braking intention is collected in real time through a brake push rod travel sensor of the vehicle, and when the brake push rod travel sensor detects that the brake push rod travel reaches a preset distance, it is determined that the vehicle is about to enter a braking state.

[0025] In this embodiment, the brake push rod travel sensor can measure the specific value of the push rod brake travel of the OneBox brake system, and is accurate to millimeters. Specifically, the push rod travel distance is sent to the vehicle CAN network through the OneBox brake system as a signal IPB_InputRodStroke=XXmm. When the driver steps on the brake pedal connected to the push rod travel sensor of the OneBox, as long as the push rod travel exceeds 0.05mm, it will be reflected in the CAN network data, so that the OneBox brake system can accurately obtain the vehicle's braking intention.

[0026] In this embodiment, the brake push rod travel sensor is always in operation during the driving process of the vehicle, and continuously and accurately monitors the travel change of the brake push rod. Once the sensor detects that the brake push rod travel gradually increases and reaches a preset distance, the system will quickly determine that the vehicle is about to enter a braking state.

[0027] It is worth noting that the preset distance is not a fixed value, but is set based on a variety of vehicle parameters. Specifically, these parameters cover the type of vehicle. Different types of vehicles (such as cars, trucks, buses, etc.) have different braking requirements due to differences in their own structures and performance characteristics; the load condition is also extremely critical. The heavier the vehicle load, the greater the force and travel required for braking; the driving speed is also not to be ignored. The faster the speed, the longer the distance required for braking; in addition, road conditions, such as dry roads, wet roads, or icy roads, have a significant impact on the braking effect. The system will scientifically and reasonably set this preset distance based on at least one parameter of the vehicle type, load, driving speed, and road conditions to ensure the safety and reliability of the vehicle's braking system.

[0028] In this embodiment, the brake push rod travel sensor closely monitors key data such as the change in the brake pedal travel, the force and speed of the driver's stepping on the brake pedal, and does not miss any subtle dynamic capture. By quickly collecting and analyzing the brake push rod travel, the OneBox braking system can accurately and timely capture the vehicle's braking intention, providing an important basis for subsequent vehicle operation strategy adjustments.

[0029] Step S102: Distribute electric braking and hydraulic braking of the vehicle according to the braking intention to determine the braking demand.

[0030] In this embodiment, in terms of braking deceleration control, the ideal situation is that the deceleration is less than or equal to 0.3g (g, gravity acceleration, generally 9.8m / s 2 ), all electric braking methods are used. Because within this deceleration range, electric braking can not only meet the braking needs, but also fully recover energy, thereby increasing the vehicle's cruising range. When the deceleration required by the driver exceeds 0.3g, the excess is borne by conventional liquid braking. Specifically, when the driver's braking intention is a deceleration of 0.5g, the vehicle's braking system will automatically distribute it, using 0.3g electric braking plus 0.2g liquid braking. However, in the actual calibration process, taking into account the comfort factors of the entire vehicle, when the deceleration reaches 0.3g, the liquid braking will gradually weaken and exit, and the electric braking will slowly increase the input, so as to make the vehicle's braking process smoother and more comfortable, and avoid discomfort to the driver and passengers due to sudden switching of braking methods.

[0031] It is worth noting that the allocation of electric braking and hydraulic braking of the vehicle according to the driver's braking intention and the precise determination of braking requirements can optimize energy utilization to the greatest extent. Under low deceleration requirements, electric braking is fully used to achieve braking energy recovery, increase vehicle range, effectively improve energy utilization efficiency, and reduce energy consumption. At the same time, for higher deceleration requirements, timely intervention of liquid braking can give full play to its powerful braking performance, ensure that the vehicle can brake quickly in an emergency, and ensure driving safety. Furthermore, considering the comfort factors of the whole vehicle, during the braking process, when the deceleration is close to 0.3g, the transition between liquid braking and electric braking is smooth, avoiding the discomfort caused to the driver and passengers by the sudden switching of the braking mode, and providing users with a smoother and more comfortable driving experience.

[0032] Step S103: Send a braking energy recovery signal based on braking demand.

[0033] In this embodiment, after receiving specific braking requirements for electric and hydraulic braking from various sensors on the vehicle, the OneBox braking system will quickly integrate this information and accurately send it to the vehicle controller. As the central brain of the vehicle, the vehicle controller will perform a series of complex and precise calculations on the received braking requirements, which includes comprehensive consideration of multiple factors such as current vehicle speed, road conditions, vehicle load, and battery status. Once the braking demand is determined through accurate calculation and reasonable allocation, the OneBox braking system will immediately respond and send a braking energy recovery signal, thereby triggering the vehicle's energy recovery system to start working.

[0034] It is worth mentioning that the OneBox braking system integrates advanced sensors and algorithms, significantly improving the intelligence and automation level of the vehicle braking system, and can sense and analyze the vehicle status in real time, so as to make more accurate and efficient braking decisions. As an important development in modern automotive braking technology, the OneBox braking system has brought many significant advantages, which not only improve the performance of the vehicle, but also enhance the safety and comfort of driving. The OneBox braking system integrates multiple components in the traditional braking system, reducing the number and weight of components, helping to reduce the overall weight of the vehicle, and can quickly respond to the driver's braking needs and achieve precise braking force control. At the same time, the OneBox braking system accurately manages the braking process through the electronic control unit, which can maintain the stability of the braking performance and is not affected by external factors such as ambient temperature and humidity. In addition, due to the simpler system structure and the high reliability of the electronic control part, the maintenance cost of the OneBox braking system is relatively low.

[0035] Step S104: determine whether the vehicle is in an unstable state. If so, increase the wheel torque of the vehicle.

[0036] In some embodiments of the present application, the OneBox braking system obtains the driving information of the vehicle in real time, and obtains the slip rate of the vehicle according to the driving information of the vehicle. It is determined whether the vehicle is in an unstable state during the braking energy recovery process. If the vehicle is in an unstable state, the wheel torque of the vehicle is increased, and when the slip rate is less than a preset value, the increase of the wheel torque is stopped.

[0037] In this embodiment, during the braking energy recovery process, if the vehicle becomes unstable, OneBox calculates the slip rate of a single wheel or multiple wheels in real time. If the slip rate is greater than or equal to a preset value, the OneBox braking system sends a torque increase request to the vehicle controller. The vehicle controller responds to the torque increase request and exits the gliding energy recovery. After the vehicle controller performs the torque increase operation, the wheel slip rate reaches a normal value and the vehicle resumes the normal braking energy recovery process.

[0038] In some embodiments of the present application, during the process of braking energy recovery of the vehicle, it is determined whether the vehicle is in an unstable state based on the slip rate. If the slip rate is greater than a preset value, it is determined that the vehicle is in an unstable state.

[0039] The slip rate calculation formula is: , in, Indicates the wheel speed of the vehicle, Indicates the vehicle's speed, Indicates the slip rate.

[0040] It is worth noting that the slip rate refers to the degree of deviation between the actual motion state and the pure rolling state of the wheel during driving, which is specifically expressed as the ratio of the wheel speed to the vehicle speed. It is used to measure the degree of sliding of the wheel relative to the road surface during braking or acceleration, and is a value between 0 and 1 (or 0% to 100%). The size of the slip rate is affected by many factors such as road conditions, wheel conditions, and braking system performance. By reasonably controlling the slip rate, the adhesion between the wheel and the road surface can be optimized, and the braking effect and handling stability of the car can be improved. It is an important parameter in the fields of automotive engineering and vehicle dynamics. If the slip rate is to be adjusted, the tire material, surface treatment, lubrication method, and gear matching clearance can be changed. Specifically, choosing a tire material with a low friction coefficient can reduce the slip rate; treating the tire surface by surface quenching, rolling, polishing, etc. can also reduce the slip rate; choosing a suitable lubrication method can also affect the slip rate.

[0041] By way of example and not limitation, the preset value of the slip ratio can be determined based on the actual conditions and driving conditions of the vehicle. The preset value selected in this application is 5%.

[0042] In some embodiments of the present application, during the process of braking energy recovery of the vehicle, it is determined whether the vehicle is in an unstable state based on the front axle slip angle of the vehicle; if the front axle slip angle is greater than a preset degree, it is determined that the vehicle is in an unstable state.

[0043] The calculation formula of the front axle slip angle is: , in, Indicates the vehicle mass, represents the lateral acceleration, Indicates the tire sidewall stiffness, Indicates the front axle slip angle.

[0044] It is worth noting that the front axle slip angle refers to the angle between the centerline of the front axle and its ideal driving trajectory (i.e. the straight driving direction that the vehicle should maintain without the action of lateral external forces) during the driving process of the vehicle. This angle reflects the degree to which the front axle deviates from its straight driving direction when the vehicle is turning or subjected to lateral forces. The size of the front axle slip angle is affected by many factors such as vehicle speed, steering input, tire characteristics and road conditions. It is one of the important parameters for evaluating vehicle handling stability and driving safety. By reasonably controlling the front axle slip angle, the steering response speed and driving stability of the vehicle can be improved, providing the driver with a safer and more comfortable driving experience.

[0045] By way of example and not limitation, the front axle slip angle being greater than a preset degree can be determined based on the actual vehicle conditions and driving conditions, and the preset value selected in this application is 5 degrees.

[0046] In some embodiments of the present application, during the process of vehicle braking energy recovery, whether the vehicle is in an unstable state is judged based on the vehicle's maximum lateral friction and the vehicle's lateral force; if the lateral force is greater than the maximum lateral friction, the vehicle is determined to be in an unstable state.

[0047] Among them, the calculation formulas for lateral force and maximum lateral friction are: , ， in, Indicates the vehicle mass, represents the lateral acceleration, Represents the acceleration due to gravity, take 9.8m / s 2 , represents the ground adhesion coefficient, represents the lateral force, Indicates the maximum lateral friction.

[0048] It is worth noting that the maximum lateral friction of a vehicle refers to the maximum lateral force that can be generated between the tire and the road under specific conditions. It determines the maximum ability of the vehicle to maintain stable driving without skidding when turning or being acted upon by external forces such as side winds. The lateral force of a vehicle refers to the force actually directed toward the side of the vehicle during driving. It may come from a variety of factors such as centrifugal force when turning, lateral wind pressure, and road inclination. The maximum lateral friction is the upper limit of the vehicle's lateral force. When the actual lateral force approaches or reaches this upper limit, the vehicle may face the risk of skidding or loss of control.

[0049] In this embodiment, the maximum lateral friction of the vehicle is also related to the ground adhesion coefficient. The ground adhesion coefficient is an important parameter that describes the interaction ability between the tire and the road surface. It reflects the ratio between the pressure of the tire in the normal direction (perpendicular to the road surface) and the maximum adhesion it can provide. The larger this ratio is, the stronger the adhesion between the tire and the road surface is, and the lower the possibility of the vehicle slipping again. The maximum lateral friction of the vehicle is generated on the basis of this adhesion. When the vehicle turns or is subjected to other lateral forces, the tire needs to generate enough lateral force to maintain the stability of the vehicle. The size of this lateral force is limited by the ground adhesion coefficient. If the ground adhesion coefficient is small, the maximum lateral friction that the tire can provide will also be reduced accordingly, which may cause the vehicle to be more likely to slip or lose control when turning.

[0050] In this embodiment, the lateral force of the vehicle is related to the lateral acceleration of the vehicle. The magnitude and direction of the lateral acceleration determine the stability and handling of the vehicle when turning, and the lateral force is the fundamental cause of this acceleration. The relationship between the two is an important indicator for evaluating the dynamic performance of the vehicle. In addition, the lateral acceleration of the vehicle can be measured by an on-board inertial sensor.

[0051] By way of example and not limitation, in the embodiment of the present application, when the ground adhesion coefficient is 1, the vehicle is considered to be unstable when the lateral acceleration measured by the on-board inertial sensor is 10.

[0052] Step S105: When the vehicle is not in an unstable state, the vehicle controller receives a braking energy recovery signal and drives the motor to reverse to recover braking energy.

[0053] In some embodiments of the present application, a braking demand is sent to a vehicle controller, which receives the braking demand signal and controls the motor to reverse to recover braking energy.

[0054] In this embodiment, the vehicle's OneBox braking system and actuator are in normal state, the vehicle has no faults, and sends a signal IPB_Falt_Lamp=0x0:Off; the vehicle gear is D gear VCU_GearSelectorReq=0x5:D, and the vehicle controller feedback motor maximum recovery capacity is 2000NmHTCU_MbRegenMaxWhl=2000; the driver has the intention to brake and steps on the 7mm OneBox push rod stroke Pressed IPB_InputRodStroke=7mm. The OneBox recognizes the current vehicle speed and the speed at which the driver steps on the brake pedal, calculates the vehicle negative torque value that reaches the driver's required deceleration and sends it to the vehicle controller, requesting the vehicle controller to recover braking energy IPB_RegBrkTrqReq=-1000Nm. After receiving the OneBox braking energy recovery request, the vehicle controller executes the recovery torque and sends the actual recovery value to the CAN network HTCU_MbRegenRealWhl=-998Nm, and the motor will perform reverse rotation to recover energy while electrically braking.

[0055] Step S106: storing the braking energy in the battery pack.

[0056] In some embodiments of the present application, the motor converts the kinetic energy of the vehicle into electrical energy and stores it in a battery pack.

[0057] It is worth noting that as an efficient energy conversion device, the motor can cleverly capture and convert the vehicle's original kinetic energy into electrical energy during the vehicle's braking or deceleration process. This conversion process is achieved through the motor's special working mode - regenerative braking. When the vehicle starts braking or the speed gradually decreases, the motor that originally drives the vehicle forward is transformed into a generator state, using the mechanical energy generated by the rotation of the wheels (that is, the kinetic energy of the vehicle) to drive the magnetic field inside the motor and the coil to move relative to each other, thereby generating an induced current in the coil. These induced currents are then directed to and stored in the vehicle's battery pack, realizing energy recovery and reuse. This energy recovery mechanism not only improves the efficiency of energy utilization, but also helps to extend the vehicle's cruising range, because the recovered electrical energy can be reused to drive the vehicle during subsequent driving. In addition, it also helps to reduce the thermal load and wear of the braking system, and has a positive effect on improving the overall performance and life of the vehicle.

[0058] In the embodiment of the present application, the braking intention of the vehicle is first collected in real time to determine whether the vehicle is about to enter the braking state; then the electric braking and hydraulic braking of the vehicle are allocated according to the braking intention of the vehicle to determine the braking demand. The braking demand is accurately determined to optimize energy utilization to the greatest extent; then based on the braking demand, a braking energy recovery signal is sent to trigger the vehicle's energy recovery system to start working; during the process of the vehicle's braking energy recovery, it is determined whether the vehicle is in an unstable state. If so, the wheel torque of the vehicle is increased to avoid the situation where the braking energy recovery is exited as soon as the vehicle anti-lock braking system is triggered; if the vehicle is not in an unstable state, the vehicle controller receives the braking energy recovery signal, drives the motor to reverse to recover braking energy, and stores the braking energy in the battery pack, thereby improving the energy utilization efficiency. The present application can solve the problem of exiting braking energy recovery as soon as the ABS is triggered, resulting in low braking energy recovery efficiency, thereby effectively improving the braking energy recovery efficiency of the vehicle.

[0059] It should be noted that the braking energy recovery method based on the OneBox braking system provided in the embodiment of the first aspect of the present application can be executed by a braking energy recovery system based on the OneBox braking system, or a control module in the braking energy recovery system based on the OneBox braking system for executing the loading of the braking energy recovery method based on the OneBox braking system. In the embodiment of the present application, the braking energy recovery method based on the OneBox braking system provided in the embodiment of the present application is explained by taking the braking energy recovery system based on the OneBox braking system executing the loading of the braking energy recovery method based on the OneBox braking system as an example.

[0060] The braking energy recovery system based on the OneBox braking system in the embodiment of the present application can be a system, or a component, an integrated circuit, or a chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be an in-vehicle electronic device, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, etc., which is not specifically limited in the embodiment of the present application.

[0061] The braking energy recovery system based on the OneBox braking system in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0062] The braking energy recovery system based on the OneBox braking system provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0063] See also Figure 2 , shown is a structural schematic diagram of a braking energy recovery system based on a OneBox braking system provided by an embodiment of the second aspect of the present application, the system comprising: A braking intention acquisition module 201 is used to collect the braking intention of the vehicle in real time, wherein the braking intention is used to determine whether the vehicle is about to enter a braking state; A braking demand determination module 202, for allocating electric braking and hydraulic braking of the vehicle according to the braking intention, and determining the braking demand; The signal receiving module 203 is used to send a braking energy recovery signal based on the braking demand; determine whether the vehicle is in an unstable state, and if so, increase the wheel torque of the vehicle; when the vehicle is not in an unstable state, the vehicle controller receives the braking energy recovery signal and drives the motor to reverse to recover braking energy; The energy recovery module 204 is used to store the braking energy in the battery pack.

[0064] In the embodiment of the present application, the braking intention of the vehicle is first collected in real time to determine whether the vehicle is about to enter the braking state; then the electric braking and hydraulic braking of the vehicle are allocated according to the braking intention of the vehicle to determine the braking demand. The braking demand is accurately determined to optimize energy utilization to the greatest extent; then based on the braking demand, a braking energy recovery signal is sent to trigger the vehicle's energy recovery system to start working; during the process of the vehicle's braking energy recovery, it is determined whether the vehicle is in an unstable state. If so, the wheel torque of the vehicle is increased to avoid the situation where the braking energy recovery is exited as soon as the vehicle anti-lock braking system is triggered; when the vehicle is not in an unstable state, the vehicle controller receives the braking energy recovery signal, drives the motor to reverse to recover braking energy, and stores the braking energy in the battery pack, which improves the energy utilization efficiency and helps to extend the vehicle's cruising range. The present application can solve the problem of exiting braking energy recovery as soon as the ABS is triggered, resulting in low braking energy recovery efficiency, thereby effectively improving the braking energy recovery efficiency of the vehicle.

[0065] Optionally, an embodiment of the third aspect of the present application provides a vehicle, including a processor 301, a memory 302, and a computer program 303 stored in the memory and executable on the processor. When the computer program 303 is executed by the processor 301, each process of the above-mentioned recovery method embodiment of the OneBox braking system is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0066] The embodiment of the fourth aspect of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned braking energy recovery method embodiment based on the OneBox braking system is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0067] The processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0068] The embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned braking energy recovery method embodiment based on the OneBox braking system, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0069] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0070] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0072] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A braking energy recovery method based on a OneBox braking system, characterized in that: The method comprises: Collecting the braking intention of the vehicle in real time, wherein the braking intention is used to determine whether the vehicle is about to enter a braking state; Distributing electric braking and hydraulic braking on the vehicle according to the braking intention to determine a braking demand; Based on the braking demand, sending a braking energy recovery signal; Determining whether the vehicle is in an unstable state, and if so, increasing the wheel torque of the vehicle; When the vehicle is not in the unstable state, the vehicle controller receives the braking energy recovery signal and drives the motor to reverse to recover braking energy; The braking energy is stored in a battery pack.

2. The braking energy recovery method based on the OneBox braking system according to claim 1, characterized in that: The step of determining whether the vehicle is in an unstable state, and if so, increasing the wheel torque of the vehicle, specifically includes: Acquiring the driving information of the vehicle in real time, the driving information at least including the vehicle speed and wheel speed of the vehicle; Based on the driving information, obtaining a slip rate of the vehicle; During the process of the vehicle performing braking energy recovery, determining whether the vehicle is in the unstable state; If the vehicle is in the unstable state, the wheel torque of the vehicle is increased; When the slip ratio is less than a preset value, the torque increase of the wheel side torque is stopped.

3. The braking energy recovery method based on the OneBox braking system according to claim 2, characterized in that: In the process of the vehicle performing braking energy recovery, the step of determining whether the vehicle is in the unstable state specifically includes: During the process of the vehicle performing brake energy recovery, judging whether the vehicle is in the unstable state according to the slip rate; If the slip ratio is greater than the preset value, determining that the vehicle is in the unstable state; Wherein, the calculation formula of the slip rate is: ， in, Indicates the wheel speed of the vehicle, Indicates the vehicle's speed, Indicates the slip rate.

4. The braking energy recovery method based on the OneBox braking system according to claim 2, characterized in that: In the process of the vehicle performing braking energy recovery, the step of determining whether the vehicle is in the unstable state specifically includes: During the process of the vehicle performing brake energy recovery, judging whether the vehicle is in the unstable state according to the front axle slip angle of the vehicle; If the front axle slip angle is greater than a preset degree, it is determined that the vehicle is in the unstable state; Wherein, the calculation formula of the front axle sideslip angle is: ， in, Indicates the vehicle mass, represents the lateral acceleration, Indicates the tire sidewall stiffness, Indicates the front axle slip angle.

5. The braking energy recovery method based on the OneBox braking system according to claim 2, characterized in that: In the process of the vehicle performing braking energy recovery, the step of determining whether the vehicle is in the unstable state specifically includes: During the process of the vehicle performing brake energy recovery, judging whether the vehicle is in the unstable state according to the maximum lateral friction force of the vehicle and the lateral force of the vehicle; If the lateral force is greater than the maximum lateral friction force, determining that the vehicle is in the unstable state; The calculation formulas for the lateral force and the maximum lateral friction force are: ， ， in, Indicates the vehicle mass, represents the lateral acceleration, Represents the acceleration due to gravity, take 9.8m / s 2 , represents the ground adhesion coefficient, represents the lateral force, Indicates the maximum lateral friction.

6. The braking energy recovery method based on the OneBox braking system according to claim 1, characterized in that: The step of collecting the braking intention of the vehicle in real time specifically includes: The braking intention of the vehicle is collected in real time through a brake push rod travel sensor of the vehicle; When the brake push rod travel sensor detects that the brake push rod travel reaches a preset distance, it is determined that the vehicle is about to enter a braking state; The preset distance is set according to at least one parameter of the vehicle type, load, driving speed and road conditions.

7. The braking energy recovery method based on the OneBox braking system according to claim 1, characterized in that: When the vehicle is not in the unstable state, the vehicle controller receives the braking energy recovery signal and drives the motor to reverse to recover braking energy, specifically including: Sending the braking demand to the vehicle controller; The vehicle controller receives the braking demand signal and controls the motor to reverse to recover braking energy; The step of controlling the motor to reverse to recover braking energy further includes: The motor converts the kinetic energy of the vehicle into electrical energy and stores it in the battery pack.

8. A braking energy recovery system based on a OneBox braking system, characterized in that: The system comprises: A braking intention acquisition module, used for collecting the braking intention of the vehicle in real time, wherein the braking intention is used to determine whether the vehicle is about to enter a braking state; A braking demand determination module, configured to allocate electric braking and hydraulic braking to the vehicle according to the braking intention, and determine the braking demand; A signal receiving module is used to send a braking energy recovery signal based on the braking demand; determine whether the vehicle is in an unstable state, and if so, increase the wheel torque of the vehicle; when the vehicle is not in the unstable state, the vehicle controller receives the braking energy recovery signal and drives the motor to reverse to recover braking energy; The energy recovery module is used to store the braking energy in a battery pack.

9. A vehicle, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the braking energy recovery method based on the OneBox braking system as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the braking energy recovery method based on the OneBox braking system as described in any one of claims 1 to 7 are implemented.

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