New Energy Commercial Vehicle Brake Energy Recovery and Battery Charging Method and Device

Abstract

This application relates to a method and device for braking energy recovery and charging replenishment of new energy commercial vehicles. The method includes: when a braking signal of a target vehicle is obtained, determining the braking intensity of the target vehicle according to the braking signal, where the braking intensity is used to characterize the strength of the required braking force; determining a target braking strategy corresponding to the braking intensity according to a preset mapping relation table between braking intensity and vehicle braking strategy, and the target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system; controlling the target vehicle to execute the target braking strategy. By adopting the above method, this application determines the braking intensity according to the braking signal of the vehicle, and respectively controls the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system according to the braking intensity, thereby reducing the possibility of excessive intervention of hydraulic braking force, and further improving the recovery efficiency of vehicle braking energy and the charging replenishment efficiency of the storage battery.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a method and device for recovering and replenishing braking energy of new energy commercial vehicles. Background Art

[0002] With the continuous improvement of global requirements for environmental protection and energy efficiency, how to efficiently recover and utilize braking energy during the driving of electric vehicles such as new energy commercial vehicles has become an important research direction. The vehicle braking energy recovery technology not only helps to reduce the energy consumption of the vehicle, but also can extend the service life of the storage battery, reduce the dependence on external power sources, and the recovered braking energy can replenish the storage battery on the vehicle, thereby improving the economic performance and cruising range of the vehicle.

[0003] In the related art, the braking of the vehicle braking system during vehicle deceleration is not reliable enough, which may cause excessive intervention of hydraulic braking force, resulting in a reduction in the recovery efficiency of braking energy, that is, a reduction in the replenishment efficiency of the storage battery. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, vehicle-mounted device, computer-readable storage medium, and computer program product for recovering and replenishing braking energy of new energy commercial vehicles in view of the technical problems of low recovery efficiency of braking energy and low replenishment efficiency of storage batteries of the above-mentioned electric vehicles.

[0005] In a first aspect, the present application provides a method for recovering and replenishing braking energy of new energy commercial vehicles. This method is applicable to a vehicle braking system, and the vehicle braking system includes a hydraulic braking system, an electric motor regenerative braking system, and a storage battery. The method includes:

[0006] When a braking signal of a target vehicle is obtained, determine the braking intensity of the target vehicle according to the braking signal. The braking intensity is used to characterize the strength of the required braking force;

[0007] According to a preset mapping relationship table between braking intensity and vehicle braking strategy, determine a target braking strategy corresponding to the braking intensity. The target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the electric motor regenerative braking system;

[0008] Control the target vehicle to execute the target braking strategy to achieve the recovery of braking energy of the target vehicle and the replenishment of the storage battery.

[0009] In one of the embodiments, determining the braking intensity of the target vehicle according to the braking signal includes:

[0010] Determine the braking force value of the target vehicle according to the braking signal, and determine the braking duration of the target vehicle according to the duration of the braking signal;

[0011] Determine the braking intensity according to the braking force value, braking duration, and a preset calibration coefficient, where the calibration coefficient is determined according to the performance parameters of the target vehicle.

[0012] In one embodiment, after determining the braking intensity according to the braking force value, braking duration, and a preset calibration coefficient, the method includes:

[0013] Obtain the humidity value of the target section where the target vehicle is currently located, and determine the braking intensity correction coefficient according to the humidity value;

[0014] Obtain the updated braking intensity according to the braking intensity correction coefficient and the braking intensity;

[0015] Determine the target braking strategy corresponding to the braking intensity according to a preset mapping relationship table between braking intensity and vehicle braking strategy, including:

[0016] Determine the target braking strategy according to the mapping relationship table between braking intensity and vehicle braking strategy and the updated braking intensity.

[0017] In one embodiment, the target section is the rolling area of the target vehicle's wheels. Before obtaining the humidity value of the target section where the target vehicle is currently located, the method further includes:

[0018] Divide the rolling area into multiple adjacent rolling sub-areas, and respectively obtain the road surface humidity values of each rolling sub-area;

[0019] Determine the humidity value of the target section according to the road surface humidity values of each rolling sub-area.

[0020] In one embodiment, determining the humidity value of the target section according to the road surface humidity values of each rolling sub-area includes:

[0021] Determine the road surface humidity value of the rolling area corresponding to each wheel according to the road surface humidity values of the rolling sub-areas respectively corresponding to each wheel;

[0022] Determine the road surface humidity value of the target section according to the road surface humidity values of the rolling areas corresponding to each wheel and the preset humidity influence weights corresponding to each wheel.

[0023] In one embodiment, determining the target braking strategy according to the mapping relationship table between braking intensity and vehicle braking strategy and the updated braking intensity includes:

[0024] In the case where the updated braking intensity is not less than a preset first braking intensity threshold, determine that the target braking strategy is to control the hydraulic braking system to brake the target vehicle;

[0025] When the updated braking intensity is not greater than a preset second braking intensity threshold, it is determined that the target braking strategy is to control the motor regenerative braking system to brake the target vehicle, and the second braking intensity threshold is less than the first braking intensity threshold.

[0026] When the updated braking intensity is greater than the second braking intensity threshold and less than the first braking intensity threshold, it is determined that the target braking strategy is to respectively determine the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system according to the updated braking intensity.

[0027] In a second aspect, the present application also provides a braking energy recovery and charging device for a new energy commercial vehicle. This device is applicable to a vehicle braking system. The vehicle braking system includes a hydraulic braking system, a motor regenerative braking system, and a battery. The device includes:

[0028] A braking intensity determination module, configured to determine the braking intensity of the target vehicle according to a braking signal when the braking signal of the target vehicle is acquired. The braking intensity is used to characterize the strength of the required braking force.

[0029] A braking strategy determination module, configured to determine a target braking strategy corresponding to the braking intensity according to a mapping relation table between the preset braking intensity and the vehicle braking strategy. The target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system.

[0030] A braking strategy execution module, configured to control the target vehicle to execute the target braking strategy to achieve braking energy recovery of the target vehicle and charging of the battery.

[0031] In a third aspect, the present application also provides an in-vehicle device. This in-vehicle device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0032] When the braking signal of the target vehicle is acquired, determine the braking intensity of the target vehicle according to the braking signal. The braking intensity is used to characterize the strength of the required braking force.

[0033] According to a mapping relation table between the preset braking intensity and the vehicle braking strategy, determine a target braking strategy corresponding to the braking intensity. The target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system.

[0034] Control the target vehicle to execute the target braking strategy to achieve braking energy recovery of the target vehicle and charging of the battery.

[0035] In a fourth aspect, the present application also provides a computer-readable storage medium. On this computer-readable storage medium, a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0036] When the braking signal of the target vehicle is obtained, determine the braking intensity of the target vehicle according to the braking signal, and the braking intensity is used to characterize the strength of the required braking force;

[0037] According to the preset mapping relationship table between the braking intensity and the vehicle braking strategy, determine the target braking strategy corresponding to the braking intensity, and the target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system;

[0038] Control the target vehicle to execute the target braking strategy to achieve the braking energy recovery and battery charging of the target vehicle.

[0039] In a fifth aspect, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0040] When the braking signal of the target vehicle is obtained, determine the braking intensity of the target vehicle according to the braking signal, and the braking intensity is used to characterize the strength of the required braking force;

[0041] According to the preset mapping relationship table between the braking intensity and the vehicle braking strategy, determine the target braking strategy corresponding to the braking intensity, and the target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system;

[0042] Control the target vehicle to execute the target braking strategy to achieve the braking energy recovery and battery charging of the target vehicle.

[0043] The above new energy commercial vehicle braking energy recovery and battery charging method, device, vehicle-mounted equipment, storage medium and computer program product are applicable to a vehicle braking system. The vehicle braking system includes a hydraulic braking system, an electric motor regenerative braking system and a storage battery. The method includes: when a braking signal of a target vehicle is obtained, determining a braking intensity of the target vehicle according to the braking signal, where the braking intensity is used to characterize the strength of the required braking force; determining a target braking strategy corresponding to the braking intensity according to a preset mapping relation table between the braking intensity and the vehicle braking strategy, where the target braking strategy includes a braking output ratio of the hydraulic braking system and a braking output ratio of the electric motor regenerative braking system; controlling the target vehicle to execute the target braking strategy so as to realize braking energy recovery of the target vehicle and battery charging. By adopting the above method, the present application determines the braking intensity according to the braking signal of the vehicle, so as to find and determine the corresponding target braking strategy in the preset mapping relation table between the braking intensity and the vehicle braking strategy, and respectively control the braking output of the hydraulic braking system and the braking output of the electric motor regenerative braking system according to the braking output ratio of the hydraulic braking system and the braking output ratio of the electric motor regenerative braking system in the target braking strategy, thereby reducing the possibility of excessive intervention of the hydraulic braking force, and further improving the recovery efficiency of the braking energy and the charging efficiency of the storage battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is an application environment diagram of the new energy commercial vehicle braking energy recovery and battery charging method in an embodiment;

[0045] Figure 2 It is a flowchart of the new energy commercial vehicle braking energy recovery and battery charging method in an embodiment;

[0046] Figure 3 It is a flowchart of determining the braking intensity in an embodiment;

[0047] Figure 4 It is a flowchart of determining the updated braking intensity according to the humidity value of a target section in an embodiment;

[0048] Figure 5 It is a flowchart of determining the humidity value of a target section in an embodiment;

[0049] Figure 6 It is a flowchart of determining the humidity value of a target section according to the road surface humidity values of the rolling areas corresponding to each wheel in an embodiment;

[0050] Figure 7 It is a flowchart of determining the target braking strategy according to the updated braking intensity in an embodiment;

[0051] Figure 8 It is a structural block diagram of the new energy commercial vehicle braking energy recovery and battery charging device in an embodiment;

[0052] Figure 9 It is the internal structure diagram of the vehicle-mounted device in an embodiment. Specific implementation manners

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] The energy recovery technology of new energy commercial vehicles plays an important role in modern vehicle control technology, especially in improving the economic performance and driving range of vehicles. With the continuous improvement of global requirements for environmental protection and energy efficiency, how to efficiently recover and utilize energy during the driving of new energy commercial vehicles has become an important research direction. The energy recovery technology not only helps to reduce the energy consumption of the vehicle, but also can extend the service life of the battery, and the recovered braking energy can charge the vehicle's battery, thereby reducing the dependence on external power sources and further improving the sustainability and economy of the vehicle.

[0055] In related technologies, the braking of the vehicle braking system is not reliable enough when the vehicle decelerates, which may cause excessive intervention of hydraulic braking force, resulting in a reduction in the energy recovery efficiency of braking energy and a reduction in the charging efficiency of the battery.

[0056] In view of the above technical problems, the embodiments of the present application provide a method for recovering and charging braking energy of new energy commercial vehicles, which can be applied to, for example Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or placed on the cloud or other network servers. Among them, the terminal 102 is a vehicle-mounted device, which includes a vehicle control unit, sensors, a vehicle computer, a vehicle communication module, etc. The vehicle control unit is responsible for controlling the braking system of the vehicle, energy recovery management, vehicle status monitoring, etc., including an engine control unit, a braking control unit, and an energy management unit, etc.; the sensors are used to collect real-time data of the vehicle and the environment, for example, vehicle speed, braking pressure, temperature, etc. The vehicle in this application is a new energy commercial vehicle or a hybrid electric vehicle, etc. The sensors include but are not limited to speed sensors, braking pressure sensors, temperature sensors, etc.; the vehicle computer is used to process the data from the sensors and perform complex calculations and decisions, for example, braking force distribution and energy recovery strategies, etc.; the vehicle communication module is responsible for the communication between the vehicle and the external network (cloud server, other vehicles), including a Bluetooth module, a Wi-Fi module, etc. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers. The server is used to store and manage the historical data, real-time data, etc. of the vehicle, and provide data analysis, prediction, and optimization services.

[0057] In one embodiment, as Figure 2 shown, taking the case where this method is applied to the Figure 1 terminal in it as an example for illustration, it can be understood that this method can also be applied to the server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, this method is applicable to the vehicle braking system of a new energy commercial vehicle or a hybrid vehicle. The vehicle braking system includes a hydraulic braking system, an electric motor regenerative braking system, and a storage battery. This method includes the following steps:

[0058] Step 202, when a braking signal of a target vehicle is obtained, determine the braking intensity of the target vehicle according to the braking signal, and the braking intensity is used to characterize the strength of the required braking force.

[0059] Among them, the target vehicle is a certain new energy commercial vehicle or hybrid vehicle during driving. The braking signal is a signal obtained from the braking system of the vehicle and is used to indicate the occurrence of a braking operation. The source of the braking signal can be the driver stepping on the brake pedal, an autonomous driving system, or other sensors. For example, when the driver steps on the brake pedal, the sensor on the brake pedal will detect this action and generate a braking signal; in an autonomous driving vehicle, the braking signal may be generated by the autonomous driving control unit based on the vehicle's sensor data and autonomous driving algorithms; other sensors on the vehicle (such as speed sensors, environmental sensors, etc.) may also generate braking signals, especially in the case of emergency braking or autonomous driving.

[0060] Braking intensity refers to the strength of the braking force required during braking, usually represented by a numerical value, which is related to the travel of the brake pedal, etc. The greater the braking intensity, the greater the braking force that the braking system needs to provide.

[0061] Exemplarily, after the in-vehicle control unit of the target vehicle obtains the braking signal of the driver stepping on the brake pedal, it performs preprocessing such as filtering and normalization on the braking signal, and then analyzes the braking signal according to a preset analysis method to obtain the braking intensity of the target vehicle.

[0062] Step 204: Determine the target braking strategy corresponding to the braking intensity according to the preset mapping relationship table between braking intensity and vehicle braking strategy. The target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system.

[0063] Among them, the preset mapping relationship table between braking intensity and vehicle braking strategy is obtained based on a large number of vehicle braking experiments. Different braking intensities correspond to different vehicle braking strategies. The sum of the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system is 100%. At different braking intensities, the braking output ratios of the two are dynamically changed to avoid overusing the hydraulic braking system, thereby avoiding waste of braking energy.

[0064] Motor regenerative braking refers to the process of converting the drive motor of an electric vehicle into a generator during braking, thereby converting the kinetic energy of the vehicle into electrical energy and storing it in the battery; when the vehicle decelerates or brakes, the rotor of the drive motor continues to rotate due to inertia. At this time, the motor can work as a generator to generate electrical energy, and through the control circuit, this part of the electrical energy can be stored in the battery, rather than being dissipated as heat like traditional mechanical braking. Hydraulic braking refers to the process of transmitting the braking force through a hydraulic system, making the brake friction pads contact the brake disc or brake drum, and decelerating or stopping the vehicle through friction; when the driver steps on the brake pedal, the hydraulic system transmits hydraulic oil to the brake, causing the brake to generate friction, thereby consuming the kinetic energy of the vehicle.

[0065] Exemplarily, when the braking intensity is low, it mainly relies on motor regenerative braking, that is, the braking output ratio of the motor regenerative braking system can be appropriately increased, so as to recover braking energy to the greatest extent and store it in the battery, thereby improving energy utilization rate and extending the battery life; when the braking intensity is high, the braking output ratio of the hydraulic braking system is appropriately increased, so as to provide sufficient braking force to ensure the safe braking of the vehicle; when the braking intensity is neither low nor high, the braking output ratios of the motor regenerative braking system and the hydraulic braking system can be dynamically adjusted to achieve the dynamic balance of vehicle braking.

[0066] Step 206, control the target vehicle to execute the target braking strategy to achieve the braking energy recovery of the target vehicle and the battery charging.

[0067] Among them, controlling the target vehicle to execute the target braking strategy means that according to the determined braking strategy, controlling the hydraulic braking system and the motor regenerative braking system to output braking forces proportionally to meet the braking intensity requirements, so as to improve the braking energy recovery efficiency of the target vehicle and the battery charging efficiency.

[0068] Exemplarily, the control method can be to receive the target braking strategy through the in-vehicle control unit of the target vehicle and control the actuators (such as brake pumps, motors) of the hydraulic braking system and the motor regenerative braking system to output corresponding braking forces; or, through the CAN bus or other communication networks of the target vehicle, transmit the target braking strategy to each execution unit to achieve the distribution and control of braking forces.

[0069] In the above new energy commercial vehicle braking energy recovery and charging method, the braking intensity is determined according to the braking signal of the vehicle, so as to find and determine the corresponding target braking strategy in the mapping relationship table of the preset braking intensity and the vehicle braking strategy according to the braking intensity, and respectively control the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system according to the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system in the target braking strategy, thereby reducing the possibility of excessive intervention of the hydraulic braking force, and further improving the braking energy recovery efficiency; in addition, by dynamically adjusting the ratio of the motor regenerative braking and the friction braking of the hydraulic braking system, the dynamic balance of the braking system can be achieved, the wear of the vehicle braking system can be reduced, its service life can be extended, and it is helpful to improve the braking energy recovery efficiency of the target vehicle and the battery charging efficiency.

[0070] In one embodiment, as Figure 3 shown, determining the braking intensity of the target vehicle according to the braking signal includes:

[0071] Step 302, determine the braking force value of the target vehicle according to the braking signal, and determine the braking duration of the target vehicle according to the duration of the braking signal.

[0072] Among them, the braking force value is the magnitude of the braking force that actually needs to act on the wheels of the target vehicle determined according to the braking signal, usually obtained by converting and amplifying the force of the driver stepping on the brake pedal through the design and working mechanism of the vehicle braking system, and the force of the driver stepping on the brake pedal can be obtained through the pressure sensor on the brake pedal. The braking duration is the duration determined according to the duration of the braking signal.

[0073] Step 304: Determine the braking intensity according to the braking force value, braking duration, and a preset calibration coefficient, where the calibration coefficient is determined based on the performance parameters of the target vehicle.

[0074] Among them, the performance parameters of the target vehicle include the model of the target vehicle, weight distribution, center of gravity position, etc. The calibration coefficient is mainly determined based on the model of the target vehicle, weight distribution, and center of gravity position. Specifically, different vehicle models can be selected for braking tests, tested under standard test conditions, record the braking pressure, braking time, vehicle mass, effective area of the braking device, and actual braking intensity each time, and then determine the calibration coefficient according to the braking pressure, braking time, vehicle mass, effective area of the braking device, and actual braking intensity obtained each time.

[0075] Exemplarily, the calculation formula for the braking intensity can refer to the following formula:

[0076] ;

[0077] In the formula, K is the calibration coefficient, and the value range is [0.8, 1.2]; a is the braking acceleration; t is the braking duration of the target vehicle, which can be the time required for the target vehicle to start braking until it completely stops. Since the braking acceleration a can be obtained according to the formula F / M, where F is the braking force and M is the weight of the target vehicle. Then the following formula for calculating the braking intensity can be further obtained:

[0078] ;

[0079] In the formula, Z is the braking intensity; K is the calibration coefficient, and the value range is [0.8, 1.2]; P is the braking pressure; S is the effective area of contact between the braking device and the brake disc or brake drum; M is the weight of the target vehicle; t is the braking duration of the target vehicle, which can be the time required for the target vehicle to start braking until it completely stops.

[0080] In this embodiment, the braking intensity Z can be determined according to the braking force value, weight, calibration coefficient, and braking duration of the target vehicle, or the braking intensity Z can also be determined according to the calibration coefficient, weight, braking pressure, effective area of contact between the braking device and the brake disc or brake drum, and braking duration of the target vehicle, which helps to improve the accuracy and convenience of determining the direct movement intensity Z, thereby helping to ensure the accuracy of the braking output ratio of the subsequent dynamic distribution hydraulic braking system and the braking output ratio of the motor regenerative braking system, and further improving the recovery efficiency during subsequent braking energy recovery.

[0081] In one embodiment, as Figure 4 shown, after determining the braking intensity according to the braking force value, braking duration, and a preset calibration coefficient, the method includes:

[0082] Step 402: Obtain the humidity value of the target road section where the target vehicle is currently located, and determine the braking intensity correction coefficient according to the humidity value.

[0083] Among them, the target road section is the road section when the braking signal of the target vehicle is obtained. The humidity value of the target road section is used to characterize the wetness degree of the target road section. Since the friction coefficient of a wet and slippery road surface is relatively low, the braking distance will increase significantly. To compensate for the difference between the actual braking effect and the theoretical calculation, it is necessary to correct the accuracy of the calculated braking intensity. Usually, the braking intensity needs to be increased, that is, the braking intensity correction coefficient can be set relatively large; while the friction coefficient of a dry road surface is relatively high and the braking distance is relatively short. On a dry road surface, the braking effect is good, so the braking intensity needs to be reduced, that is, the braking intensity correction coefficient can be set relatively small. In this embodiment, the value range of the braking intensity correction coefficient is [0.8, 1.2], and the braking intensity correction coefficient corresponding to the humidity value can be determined according to the preset mapping relationship table between the humidity value and the braking intensity correction coefficient. The mapping relationship table between the humidity value and the braking intensity correction coefficient can be obtained based on a large number of braking experiments of vehicles of the same type as the target vehicle.

[0084] Specifically, the dryness degree of the road surface can be realized by various methods and devices, which can help the driver or the autonomous driving system to understand the wet and slippery state of the road surface in real time, so as to adjust the driving behavior or braking strategy.

[0085] Exemplarily, in this embodiment, taking an in-vehicle camera and image processing as an example, in-vehicle cameras are installed in front of each wheel of the target vehicle to capture images of the target road section in real time; when the braking signal of the target vehicle is obtained, the generation moment of the braking signal can be determined according to the distance between the in-vehicle camera and the adjacent wheel and the speed of the target vehicle; then the target road surface image can be determined according to this generation moment; then the image of the target road section can be analyzed through a preset image processing algorithm to determine the wet and slippery state and the humidity value of the target road section; then the corresponding braking intensity correction coefficient can be determined according to the preset mapping relationship table between the humidity value and the braking intensity correction coefficient, where the preset mapping relationship table between the humidity value and the braking intensity correction coefficient is determined according to the experimental data of a large number of different vehicles on road surfaces with different dryness degrees.

[0086] Step 404: Obtain the updated braking intensity according to the braking intensity correction coefficient and the braking intensity.

[0087] Exemplarily, the result of multiplying the braking intensity correction coefficient by the braking intensity is used as the updated braking intensity.

[0088] Step 406: Determine the target braking strategy according to the mapping relationship table between the braking intensity and the vehicle braking strategy and the updated braking intensity.

[0089] Specifically, after obtaining the updated braking intensity, look up and determine the target braking strategy corresponding to the updated braking intensity in the mapping relationship table between the braking intensity and the vehicle braking strategy.

[0090] In this embodiment, when the braking signal is obtained, the braking intensity is updated according to the slipperiness of the road section where the target vehicle is located at that time, which helps to further ensure the accuracy when determining the target braking strategy subsequently, that is, to further improve the accuracy of dynamically allocating the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system subsequently, thereby helping to further improve the recovery efficiency during subsequent braking energy recovery; and helps to ensure the safety and stability of the target vehicle during driving.

[0091] In one embodiment, as Figure 5 shown, the target road section is the rolling area of the wheels of the target vehicle. Before obtaining the humidity value of the target road section where the target vehicle is currently located, the method further includes:

[0092] Step 502: Divide the rolling area into multiple adjacent rolling sub-areas, and respectively obtain the road surface humidity values of each rolling sub-area.

[0093] Among them, considering that during the driving process of the target vehicle, four wheels are actually in contact with the road surface. In the case of large-area slippery road surface, there may still be a possibility that the area passed by the wheels is a locally dry area, or in the case of large-area dry road surface, there may still be a possibility that the area passed by the wheels is a slippery area. Therefore, it is necessary to narrow down the discussion of the target road section to ensure the accuracy and reliability when determining the updated braking intensity subsequently. In this embodiment, the target road section takes the rolling area of each wheel when the braking signal is obtained as an example, and the rolling area of each wheel is rectangular.

[0094] Exemplarily, divide the rolling areas corresponding to each wheel into multiple small rectangular areas with a neat array in the horizontal and vertical directions and equal length and width, that is, rolling sub-areas; then obtain the images of each rolling sub-area when the braking signal is generated; then analyze the images of each rolling sub-area through a preset image processing algorithm to determine the road surface humidity value of each rolling sub-area. Specifically, if the dry and wet degrees within the rolling sub-area are inconsistent, weights can be set according to the areas of the dry and wet areas to determine the road surface humidity value of the rolling sub-area.

[0095] Step 504: Determine the humidity value of the target road section according to the road surface humidity values of each rolling sub-area.

[0096] Exemplarily, the humidity value of the rolling area can be determined according to the sum of the humidity values of each rolling sub-area.

[0097] In this embodiment, the rolling area is divided into multiple rolling sub-areas, and the road humidity value of each rolling sub-area is obtained respectively. Then, the humidity value of the target section is determined based on the road humidity value of each rolling sub-area. This helps to improve the accuracy of determining the humidity conditions of the target section, and further helps to improve the accuracy and reliability of the subsequent determination of the updated braking intensity.

[0098] In one embodiment, Figure 6 As shown, according to the road surface humidity value of each rolling sub-area, the humidity value of the target road section is determined, including:

[0099] Step 602: Determine the road surface humidity value of the rolling area corresponding to each wheel according to the road surface humidity value of each rolling sub-area corresponding to each wheel.

[0100] Specifically, the road surface humidity values of all rolling sub-areas corresponding to a single wheel are added together to obtain the road surface humidity value of the rolling area corresponding to the wheel.

[0101] Step 604: Determine the road humidity value of the target road section according to the road humidity value of the rolling area corresponding to each wheel and the preset humidity influence weight corresponding to each wheel.

[0102] Among them, considering that when the vehicle braking system is working, although the four wheels are braked at the same time, since the center of gravity of some new energy commercial vehicles or hybrid vehicles is usually biased towards the front of the vehicle body, the front wheels bear most of the braking load, that is, when the vehicle braking system is braking, it mainly needs to brake the two front wheels. Therefore, the road surface humidity value of the rolling area corresponding to the two front wheels has a greater impact on the overall humidity value of the target road section, that is, the preset humidity influence weight corresponding to the two front wheels needs to be set to be greater than the preset humidity influence weight corresponding to the two rear wheels. Of course, in some special cases, for example, when the center of gravity of some new energy commercial vehicles or hybrid vehicles is biased towards the rear of the vehicle body, the preset humidity influence weight corresponding to the two rear wheels needs to be set to be greater than the preset humidity influence weight corresponding to the two front wheels. The preset humidity influence weight can be determined based on experimental data. For example, during the actual test process, braking tests can be performed on roads with different wetness levels, and the braking effect data and humidity values of the front and rear wheels can be recorded to determine the humidity influence weights of the front and rear wheels.

[0103] For example, assuming that the front wheels bear most of the braking load, the preset humidity influence weight of the front wheels is 70%, and the preset humidity influence weight of the rear wheels is 30%, then the road humidity value of the target road section is the sum of the road humidity values of the rolling areas corresponding to the two front wheels * 70%, and the sum of the road humidity values of the rolling areas corresponding to the two rear wheels * 30%.

[0104] In this embodiment, further optimizing the road surface humidity value data of the target road section according to the preset humidity influence weight helps to further improve the accuracy and reliability of determining the road surface humidity condition of the target road section, thereby improving the accuracy and reliability of determining the updated braking intensity subsequently.

[0105] In one embodiment, as Figure 7 shown, determining the target braking strategy according to the mapping relationship table between the braking intensity and the vehicle braking strategy and the updated braking intensity includes:

[0106] Step 702, determine whether the updated braking intensity is not less than a preset first braking threshold. If the updated braking intensity is not less than the preset first braking threshold, execute step 704; otherwise, if the updated braking intensity is less than the preset first braking threshold, execute step 706.

[0107] Step 704, determine that the target braking strategy is to control the hydraulic braking system to brake the target vehicle.

[0108] Step 706, determine whether the updated braking intensity is not greater than a preset second braking threshold. If the updated braking intensity is not greater than the preset second braking threshold, execute step 708; otherwise, if the updated braking intensity is greater than the preset second braking threshold, execute step 710;

[0109] Step 708, determine that the target braking strategy is to control the motor regenerative braking system to brake the target vehicle.

[0110] Step 710, determine that the target braking strategy is to respectively determine the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system according to the updated braking intensity.

[0111] Wherein, the preset second braking threshold is less than the preset first braking threshold.

[0112] Exemplarily, taking the preset first braking threshold as 0.7 and the preset second braking threshold as 0.1 as an example, when the updated braking intensity is less than 0.1, it indicates that the braking intensity is low. At this time, the motor regenerative braking system can provide the force required for the vehicle's braking, and the energy recovery effect is the best. When the updated braking intensity is greater than 0.7, it indicates that the braking intensity is high. At this time, it indicates that the target vehicle needs to perform emergency braking. To ensure braking safety, the braking force is completely provided by the hydraulic braking system. That is to say, the motor regenerative braking force no longer participates in braking to ensure the safety and reliability of the vehicle braking system. When the updated braking intensity is not less than 0.1 and not greater than 0.7, the braking force is provided jointly by the motor regenerative braking system and the hydraulic braking system to balance energy recovery and braking safety. For example, when the updated braking intensity is 0.5, the braking output ratio of the corresponding hydraulic braking system is 70%, and the output ratio of the corresponding motor regenerative braking system is 30%.

[0113] In this embodiment, by dynamically adjusting the ratio of the braking output of the motor regenerative braking system and the braking output of the hydraulic braking system according to the specific braking intensity, the energy recovery efficiency is maximized, the braking effect is optimized, and it helps to ensure the safety and reliability of the target vehicle in various braking scenarios.

[0114] The new energy commercial vehicle braking energy recovery and charging method of the present application determines the braking intensity according to the braking signal of the vehicle, so as to find and determine the corresponding target braking strategy in the mapping relationship table of the preset braking intensity and the vehicle braking strategy, and respectively control the braking output of the hydraulic braking system and the braking output of the motor regenerative braking system according to the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system in the target braking strategy, thereby reducing the possibility of excessive intervention of the hydraulic braking force, and then improving the recovery efficiency of the braking energy. And after determining the braking intensity according to the braking signal, in order to further improve the accuracy and reliability of the braking intensity, the humidity value of the target section where the target vehicle is currently located is also determined according to the humidity value of the rolling area of each wheel of the target vehicle and the preset humidity influence weight corresponding to each wheel, so as to determine the braking correction coefficient according to the humidity value, and finally determine the updated braking intensity, that is, the final braking intensity, according to the braking correction coefficient and the braking intensity, so as to ensure the accuracy and reliability of the subsequent dynamic distribution of the braking output of the motor regenerative braking system and the braking output of the hydraulic braking system, and then improve the efficiency during subsequent braking energy recovery. In addition, through the dynamic balance of the vehicle braking system, the wear of the vehicle braking system can be reduced, and its service life can be extended. And it helps to improve the braking energy recovery efficiency of the target vehicle and the charging efficiency of the battery.

[0115] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0116] Based on the same inventive concept, an embodiment of the present application further provides a new energy commercial vehicle braking energy recovery and charging device for implementing the new energy commercial vehicle braking energy recovery and charging method described above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the new energy commercial vehicle braking energy recovery and charging device provided below can refer to the limitations on the new energy commercial vehicle braking energy recovery and charging method in the above text, and will not be repeated here.

[0117] In one embodiment, as Figure 8 shown, a new energy commercial vehicle braking energy recovery and charging device is provided, including: a road surface humidity determination module 802, a braking intensity determination module 804, a braking strategy determination module 806, and a braking strategy execution module 808, where:

[0118] The braking intensity determination module 804 is configured to determine the braking intensity of the target vehicle according to the braking signal when the braking signal of the target vehicle is obtained, and the braking intensity is used to characterize the strength of the required braking force;

[0119] The braking strategy determination module 806 is configured to determine the target braking strategy corresponding to the braking intensity according to the preset mapping relationship table between the braking intensity and the vehicle braking strategy. The target braking strategy includes the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system;

[0120] The braking strategy execution module 808 is configured to control the target vehicle to execute the target braking strategy to achieve the braking energy recovery and battery charging of the target vehicle.

[0121] In one embodiment, the braking intensity determination module 804 is further configured to determine the braking force value of the target vehicle according to the braking signal, and determine the braking duration of the target vehicle according to the duration of the braking signal; determine the braking intensity according to the braking force value, the braking duration, and a preset calibration coefficient, where the calibration coefficient is determined according to the performance parameters of the target vehicle.

[0122] In one embodiment, the braking strategy determination module 806 is further configured to obtain the humidity value of the target road section where the target vehicle is currently located, and determine the braking intensity correction coefficient according to the humidity value; obtain the updated braking intensity according to the braking intensity correction coefficient and the braking intensity; determine the target braking strategy according to the mapping relationship table between the braking intensity and the vehicle braking strategy and the updated braking intensity.

[0123] In one embodiment, the road surface humidity determination module 802 is configured to divide the rolling area into multiple adjacent rolling sub-areas, and respectively obtain the road surface humidity values of each rolling sub-area; determine the humidity value of the target road section according to the road surface humidity values of each rolling sub-area.

[0124] In one embodiment, the road surface humidity determination module 802 is further configured to determine the road surface humidity value of the rolling area corresponding to each wheel according to the road surface humidity values of the rolling sub-areas respectively corresponding to each wheel; determine the road surface humidity value of the target road section according to the road surface humidity values of the rolling areas corresponding to each wheel and the preset humidity influence weights corresponding to each wheel.

[0125] In one embodiment, the braking strategy determination module 806 is further configured to, when the updated braking intensity is not less than a preset first braking intensity threshold, determine that the target braking strategy is to control the hydraulic braking system to brake the target vehicle; when the updated braking intensity is not greater than a preset second braking intensity threshold, determine that the target braking strategy is to control the motor regenerative braking system to brake the target vehicle, where the second braking intensity threshold is less than the first braking intensity threshold; when the updated braking intensity is greater than the second braking intensity threshold and less than the first braking intensity threshold, determine that the target braking strategy is to respectively determine the braking output ratio of the hydraulic braking system and the braking output ratio of the motor regenerative braking system according to the updated braking intensity.

[0126] Each module in the above new energy commercial vehicle braking energy recovery and charging device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0127] In one embodiment, a vehicle-mounted device is provided. The vehicle-mounted device can be a server, and its internal structure diagram can be asFigure 9 As shown. The vehicle-mounted device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the vehicle-mounted device is used to provide computing and control capabilities. The memory of the vehicle-mounted device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the vehicle-mounted device is used to store the state data, performance data, real-time data of the vehicle-mounted device on the target vehicle, etc. The network interface of the vehicle-mounted device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for recovering and replenishing braking energy of a new energy commercial vehicle.

[0128] Those skilled in the art can understand that Figure 9 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0129] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0130] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0131] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0132] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0133] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0134] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0135] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for recovering and replenishing braking energy of a new energy commercial vehicle, characterized in that, The method is applicable to a vehicle braking system, which includes a hydraulic braking system, an electric motor regenerative braking system, and a storage battery. The method includes: When a braking signal of a target vehicle is acquired, determining a braking force value of the target vehicle according to the braking signal, and determining a braking duration of the target vehicle according to the duration of the braking signal; Determining a braking intensity according to the braking force value, the braking duration, and a preset tuning coefficient, where the tuning coefficient is determined according to performance parameters of the target vehicle; Dividing a rolling area where the wheels of the target vehicle are currently located into multiple adjacent rolling sub-areas, and respectively acquiring road surface humidity values of the rolling sub-areas; Determining a road surface humidity value of the rolling area corresponding to each wheel according to the road surface humidity values of the rolling sub-areas corresponding to the wheels; Determining a humidity value of a target road section where the target vehicle is currently located according to the road surface humidity values of the rolling areas corresponding to the wheels and preset humidity influence weight values corresponding to the wheels, and determining a braking intensity correction coefficient according to the humidity value; Obtaining an updated braking intensity according to the braking intensity correction coefficient and the braking intensity, where the updated braking intensity is used to characterize the strength of the required braking force; Determining a target braking strategy corresponding to the updated braking intensity according to a mapping relationship table between braking intensity and vehicle braking strategies, where the target braking strategy includes a braking output ratio of the hydraulic braking system and a braking output ratio of the electric motor regenerative braking system; Controlling the target vehicle to execute the target braking strategy to achieve braking energy recovery and storage battery charging of the target vehicle.

2. The method according to claim 1, wherein The determining of the target braking strategy according to the mapping relationship table between braking intensity and vehicle braking strategies and the updated braking intensity includes: When the updated braking intensity is not less than a preset first braking intensity threshold, determining the target braking strategy as controlling the hydraulic braking system to brake the target vehicle; When the updated braking intensity is not greater than a preset second braking intensity threshold, determining the target braking strategy as controlling the electric motor regenerative braking system to brake the target vehicle, where the second braking intensity threshold is less than the first braking intensity threshold; When the updated braking intensity is greater than the second braking intensity threshold and less than the first braking intensity threshold, determining the target braking strategy as respectively determining a braking output ratio of the hydraulic braking system and a braking output ratio of the electric motor regenerative braking system according to the updated braking intensity.

3. A braking energy recovery and power supply replenishment device for new energy commercial vehicles, characterized in that, The device is applicable to a vehicle braking system, which includes a hydraulic braking system, an electric motor regenerative braking system, and a storage battery. The device includes: A braking intensity determination module, configured to, when obtaining a braking signal of a target vehicle, determine a braking force value of the target vehicle according to the braking signal, and determine a braking duration of the target vehicle according to a duration of the braking signal; determine a braking intensity according to the braking force value, the braking duration, and a preset calibration coefficient, where the calibration coefficient is determined according to performance parameters of the target vehicle; divide a rolling area where the wheels of the target vehicle are currently located into a plurality of adjacent rolling sub-areas, and respectively obtain road surface humidity values of the respective rolling sub-areas; determine road surface humidity values of the rolling areas corresponding to the respective wheels according to the road surface humidity values of the rolling sub-areas corresponding to the respective wheels; determine a humidity value of a target road section where the target vehicle is currently located according to the road surface humidity values of the rolling areas corresponding to the respective wheels and preset humidity influence weights corresponding to the respective wheels, and determine a braking intensity correction coefficient according to the humidity value; obtain an updated braking intensity according to the braking intensity correction coefficient and the braking intensity, where the updated braking intensity is used to characterize the strength of the required braking force; A braking strategy determination module, configured to determine a target braking strategy corresponding to the braking intensity according to a mapping relationship table between a preset braking intensity and a vehicle braking strategy, where the target braking strategy includes a braking output ratio of the hydraulic braking system and a braking output ratio of the motor regenerative braking system; A braking strategy execution module, configured to control the target vehicle to execute the target braking strategy to achieve braking energy recovery and battery charging of the target vehicle.

4. A vehicle-mounted device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 2 are implemented.

6. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 2 are implemented.

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