Energy recovery method in vehicle steering process and vehicle

Abstract

The invention provides an energy recovery method in the vehicle steering process and a vehicle. The method comprises the steps that the current vehicle speed, the current steering angle and the current brake pedal opening degree of the vehicle and the current electric quantity of a power battery are obtained; when it is judged that the vehicle meets the preset energy recovery condition, the currently allowed maximum energy recovery torque is obtained according to the current electric quantity, the current steering angle, the current brake pedal opening degree and the current state of a driving motor; determining the required braking torque of each wheel of the vehicle according to the current steering angle and the current brake pedal opening degree, and determining the energy recovery torque of each wheel according to the currently allowed maximum energy recovery torque, and according to the required braking torque of each wheel and the corresponding energy recovery torque, corresponding independent braking force is applied to each wheel for energy recovery. Therefore, the problems that the vehicle drifts easily and the energy recovery efficiency is affected during energy recovery are solved, and the energy recovery efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to an energy recovery method during a vehicle steering process and a vehicle. Background Art

[0002] The braking system of new energy vehicles can also use the drive motor to brake to achieve energy recovery and reuse, which significantly reduces the consumption of clean energy and extends the vehicle's mileage. Energy recovery can reduce energy consumption and emissions while increasing the range. Whether it is coasting energy recovery or braking energy recovery, the relevant boundary conditions should be considered during the recovery process to limit the amount of recovered kinetic energy to ensure the stability and comfort of the vehicle during the recovery process.

[0003] The energy recovery method in the relevant technology has certain limitations: First, energy recovery during the steering process is likely to cause vehicle body instability. According to the friction circle principle, the force exerted by the ground on the wheels is certain. If the longitudinal force is too large during the steering process, such as the energy recovery force, the lateral force that the ground can provide will be too small, resulting in a large lateral acceleration and yaw of the vehicle during the steering process, reducing the stability of the vehicle body.

[0004] Secondly, in the above process, if the vehicle's lateral acceleration reaches a certain value, the ESC (Electronic-Stability-Controller) stability control function will be triggered. The general strategy of the VCU (Vehicle Control Unit) is to directly exit energy recovery. Even after ESC exits control, it will not enter energy recovery again during the current braking or sliding process, thereby reducing the recovery efficiency. Summary of the invention

[0005] The present application provides an energy recovery method and a vehicle during a vehicle steering process. The method can solve the problem in the related technology that energy recovery during the steering process easily causes vehicle body instability, vehicle skidding and affects energy recovery efficiency. Energy can be recovered for each wheel through the braking force and energy recovery value of each wheel to prevent the vehicle from skidding, improve energy recovery efficiency and reduce safety risks.

[0006] In a first aspect, a method for energy recovery during a vehicle steering process is provided, wherein each wheel of the vehicle is independently controlled by an electronic mechanical braking system, the method comprising:

[0007] Obtaining the current speed, current steering angle, current brake pedal opening and current power level of the power battery of the vehicle;

[0008] When it is determined that the vehicle meets a preset energy recovery condition according to the current power, the current vehicle speed, the current brake pedal opening and the current steering angle, the currently allowed maximum energy recovery torque is obtained according to the current power, the current steering angle, the current brake pedal opening and the current state of the drive motor; and

[0009] The required braking torque of each wheel of the vehicle is determined according to the current steering angle and the current brake pedal opening, and the actual energy recovery torque of the vehicle is determined according to the current maximum allowable energy recovery torque and the required braking torque of each wheel, and braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque.

[0010] The above technical solution can solve the problem that the related technology easily causes vehicle body instability, vehicle skidding and affects energy recovery efficiency when performing energy recovery during steering. The energy recovery torque of each wheel can be recovered through the braking force and energy recovery value of each wheel to prevent the vehicle from skidding, improve energy recovery efficiency and reduce safety risks.

[0011] In combination with the first aspect, in some possible implementations, obtaining the currently allowed maximum energy recovery torque according to the current power, the current steering angle, the current brake pedal opening, and the current state of the drive motor includes:

[0012] Obtaining an energy recovery limit value of the power battery;

[0013] determining the allowable charging power of the power battery according to the current power and the energy recovery limit, and calculating the energy recovery duration according to the current steering angle and the current brake pedal opening;

[0014] The maximum charging power of the power battery is obtained according to the allowed charging power and the energy recovery duration, and the currently allowed maximum energy recovery torque is obtained according to the maximum charging power and the current state of the drive motor.

[0015] Through the above technical scheme, the currently allowed maximum energy recovery torque can be obtained through the current power, the current steering angle, the current brake pedal opening and the current state of the drive motor. The currently allowed maximum energy recovery torque can be determined according to the current state of the vehicle to prevent vehicle instability, battery overcharging and other conditions from occurring during energy recovery.

[0016] In combination with the first aspect, in some possible implementations, determining the allowable charging power of the power battery according to the current power and the energy recovery limit value includes:

[0017] If the difference between the energy recovery limit value and the current power is greater than a preset threshold, the difference between the energy recovery limit value and the current power is used as the allowed charging power; otherwise, the energy recovery mode is exited.

[0018] Through the above technical solution, the allowable charging power of the power battery can be determined according to the current power and the energy recovery limit, so as to prevent the battery from being overcharged due to energy recovery, resulting in battery damage or shortened battery life.

[0019] In combination with the first aspect, in some possible implementations, obtaining the currently allowed maximum energy recovery torque according to the maximum charging power and the current state of the drive motor includes:

[0020] Determining a torque speed Map of energy recovery of the drive motor according to a current state of the drive motor;

[0021] The driving motor speed is calculated according to the wheel speed of each wheel, and based on the torque speed Map, the currently allowed maximum energy recovery torque is obtained according to the maximum charging power and the driving motor speed.

[0022] Through the above technical solution, the rotation speed of the drive motor can be determined according to the state of the drive motor, thereby determining the maximum energy recovery torque currently allowed by the vehicle.

[0023] In combination with the first aspect, in some possible implementations, determining the actual energy recovery torque of the vehicle according to the currently allowed maximum energy recovery torque and the required braking torque of each wheel includes:

[0024] Obtain the minimum required braking torque among all wheels;

[0025] If the minimum required braking torque is less than or equal to the maximum energy recovery torque, the minimum required braking torque is used as the actual energy recovery torque;

[0026] Otherwise, the maximum energy recovery torque is used as the actual energy recovery torque.

[0027] Through the above technical method, the energy of the wheels can be recovered according to the current situation to prevent the vehicle body from being unstable and the vehicle from skidding, so as to ensure the stability and comfort of the car during the recovery process.

[0028] In combination with the first aspect, in some possible implementations, after braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque, the method further includes:

[0029] If the required braking torque of the wheel is greater than the actual energy recovery torque, the electronic mechanical braking system is controlled to compensate for the difference between the required braking torque of the corresponding wheel and the actual energy recovery torque.

[0030] Through the above technical means, when the required braking torque of the wheel is greater than the actual energy recovery torque, the electronic mechanical braking system can be controlled to compensate for the braking torque of the wheel.

[0031] In combination with the first aspect, in some possible implementations, after obtaining the current vehicle speed, the current steering angle, the current brake pedal opening, and the current power of the power battery of the vehicle, the method further includes:

[0032] Determine whether the current vehicle speed is greater than a preset vehicle speed, whether the current steering angle is greater than a preset angle, whether the current brake pedal opening is greater than a preset opening, and whether the current power is less than a preset power;

[0033] If the current vehicle speed is greater than the preset vehicle speed, the current steering angle is greater than the preset angle, the current brake pedal opening is greater than the preset opening, and the current power is less than the preset power, it is determined that the vehicle meets the preset energy recovery condition.

[0034] Through the above technical method, it is possible to determine whether the preset energy recovery conditions are met based on the current vehicle speed, current steering angle, current brake pedal opening and current power.

[0035] In conjunction with the first aspect, in some possible implementations, before determining that the vehicle meets the preset energy recovery condition, the method further includes:

[0036] Obtaining the current operating status of the caliper motor corresponding to each wheel;

[0037] Determine whether the current operating states of the caliper motors corresponding to all wheels are all in a fault-free state;

[0038] If the current operating states of the caliper motors corresponding to all the wheels are in the non-fault state, it is allowed to determine that the vehicle meets the preset energy recovery condition.

[0039] Through the above technical method, before determining the preset energy recovery conditions, it can be determined whether there is an obstacle in the caliper motor corresponding to each wheel, thereby preventing low energy recovery efficiency and unstable vehicle body during the energy recovery process due to failure of the wheel motor.

[0040] In combination with the first aspect, in some possible implementations, after performing energy recovery according to the required braking torque of each wheel and the energy recovery torque of each wheel, the method further includes:

[0041] Acquiring the vehicle speed after energy recovery and the steering angle after energy recovery of the vehicle;

[0042] If the vehicle speed after the energy recovery is less than or equal to the preset vehicle speed, or the steering angle after the energy recovery is less than or equal to the preset angle, the energy recovery mode is exited.

[0043] Through the above technical method, after energy recovery, it is possible to determine whether the vehicle has completed the turn based on the vehicle speed and steering angle, and stop energy recovery after the turn is completed to avoid causing vehicle body instability.

[0044] In a second aspect, an energy recovery device for a vehicle steering process is provided, wherein the vehicle independently controls multiple wheels through an electronic mechanical braking system EMB, and the device comprises:

[0045] An acquisition module is used to acquire the current speed of the vehicle, the current steering angle, the current brake pedal opening and the current power of the power battery;

[0046] a determination module, configured to obtain a currently allowed maximum energy recovery torque according to the current power, the current vehicle speed, the current brake pedal opening and the current state of the drive motor when it is determined that the vehicle meets a preset energy recovery condition according to the current power, the current vehicle speed, the current brake pedal opening and the current steering angle; and

[0047] An energy recovery module is used to determine the required braking torque of each wheel of the vehicle based on the current steering angle and the current brake pedal opening, and to determine the actual energy recovery torque of the vehicle based on the current maximum allowable energy recovery torque and the required braking torque of each wheel, and to perform braking and energy recovery during the vehicle steering process according to the actual energy recovery torque.

[0048] In conjunction with the second aspect, in some possible implementations, the determination module includes:

[0049] A first acquisition unit, used to acquire an energy recovery limit value of the power battery;

[0050] a calculation unit, configured to determine the allowable charging power of the power battery according to the current power and the energy recovery limit, and calculate the energy recovery duration according to the current steering angle and the current brake pedal opening;

[0051] A determination unit is used to obtain the maximum charging power of the power battery according to the allowed charging power and the energy recovery duration, and to obtain the currently allowed maximum energy recovery torque according to the maximum charging power and the current state of the drive motor.

[0052] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the computing unit includes:

[0053] A generating subunit is used to use the difference between the energy recovery limit value and the current power as the allowed charging power when the difference between the energy recovery limit value and the current power is greater than a preset threshold; otherwise, exit the energy recovery mode.

[0054] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining unit includes:

[0055] A first determining subunit, configured to determine a torque speed Map of energy recovery of the drive motor according to a current state of the drive motor;

[0056] The first calculation subunit is used to calculate the driving motor speed according to the wheel speed of each wheel, and obtain the currently allowed maximum energy recovery torque according to the maximum charging power and the driving motor speed based on the torque speed Map.

[0057] In combination with the second aspect and the above implementations, in some possible implementations, the energy recovery module includes:

[0058] A second acquisition unit acquires the minimum required braking torque of all wheels;

[0059] a first control unit, configured to use the minimum required braking torque as the actual energy recovery torque when the minimum required braking torque is less than or equal to the maximum energy recovery torque;

[0060] Otherwise, the maximum energy recovery torque is used as the actual energy recovery torque.

[0061] In combination with the second aspect and the above implementations, in some possible implementations, after braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque, the energy recovery module further includes:

[0062] The second control unit is used to control the electronic mechanical braking system to compensate for the difference between the required braking torque of the corresponding wheel and the actual energy recovery torque when the required braking torque of the wheel is greater than the actual energy recovery torque.

[0063] Through the above technical means, when the required braking torque of the wheel is greater than the actual energy recovery torque, the electronic mechanical braking system can be controlled to compensate the corresponding wheel.

[0064] In combination with the second aspect and the above implementations, in some possible implementations, after obtaining the current vehicle speed, the current steering angle, the current brake pedal opening, and the current power of the power battery of the vehicle, the acquisition module further includes:

[0065] a judgment unit, used to judge whether the current vehicle speed is greater than a preset vehicle speed, whether the current steering angle is greater than a preset angle, whether the current brake pedal opening is greater than a preset opening, and whether the current power is less than a preset power;

[0066] The determination unit determines that the vehicle meets the preset energy recovery condition if the current vehicle speed is greater than the preset vehicle speed, the current steering angle is greater than the preset angle, the current brake pedal opening is greater than the preset opening, and the current power is less than the preset power.

[0067] In combination with the second aspect and the above implementation manner, in some possible implementation manners, before determining that the vehicle satisfies the preset energy recovery condition, the determination unit further includes:

[0068] An acquisition subunit, used for acquiring the current operating state of the caliper motor corresponding to each wheel;

[0069] A judgment subunit, used to judge whether the current operating states of the caliper motors corresponding to all wheels are all in a fault-free state;

[0070] The determination subunit is used to allow determination that the vehicle meets the preset energy recovery condition when the current operating states of the caliper motors corresponding to all the wheels are in the non-fault state.

[0071] In combination with the second aspect and the above implementations, in some possible implementations,

[0072] After performing energy recovery according to the required braking torque of each wheel and the energy recovery torque of each wheel, the energy recovery module further includes:

[0073] a third acquisition unit, for acquiring a vehicle speed after energy recovery and a steering angle after energy recovery of the vehicle;

[0074] The stopping unit is used to exit the energy recovery mode when the vehicle speed after the energy recovery is less than or equal to the preset vehicle speed, or the steering angle after the energy recovery is less than or equal to the preset angle.

[0075] In a third aspect, a car is provided, comprising: an energy recovery device for the vehicle steering process as described above.

[0076] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 is a structural schematic diagram of a vehicle provided according to an embodiment of the present application;

[0078] Figure 2 is a flow chart of an energy recovery method for a vehicle steering process provided in an embodiment of the present application;

[0079] Figure 3 is a block diagram of an energy recovery device for a vehicle steering process provided in an embodiment of the present application;

[0080] Figure 4 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0081] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0082] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0083] Traditional energy recovery control obtains vehicle braking force and recovers energy during vehicle turning. It does not take road conditions into consideration and does not properly distribute braking torque to each wheel of the vehicle. This can easily cause vehicle body instability or even tail skidding, reducing vehicle stability and causing a poor user experience.

[0084] Before explaining the energy recovery method for the vehicle steering process provided in the embodiment of the present application, the structure of the vehicle involved in the embodiment of the present application is first explained.

[0085] Specifically, Figure 1As shown, the vehicle structure of the embodiment of the present application may include a domain controller, four wheels of the vehicle and two redundant power supply systems, wherein the domain controller controls four wheel-end MCUs respectively to realize independent braking of the four wheels, and the four wheel-end MCUs are MCU_FR, MCU_FL, MCU_RR and MCU_RL, wherein MCU_FR is the right front wheel wheel-end MCU, MCU_FL is the left front wheel wheel-end MCU, MCU_RR is the right rear wheel wheel-end MCU, MCU_RL is the left rear wheel wheel-end MCU, and the domain controller is externally connected to 2 power supplies (power supply 1 and power supply 2), and power supply 1 and power supply 2 are used to power the domain controller and the four wheel-end MCUs. The domain controller can obtain data such as the current vehicle speed, the current steering angle, the current brake pedal opening, and the current power of the power battery through sensors, and judge the vehicle status based on these data to control the operation of the brakes. In addition, the present application does not specifically limit the setting method of the wheel end, and those skilled in the art can set it according to actual conditions.

[0086] It should be noted that the chassis structure of the vehicle in the embodiment of the present application mainly includes four EMB (Electromechanical Brake System) actuators, which can independently control the four wheels; EMB is an actuator driven by a caliper motor and installed on the caliper of the brake mechanism. It is a device that directly brakes the vehicle with the brake mechanism without the need for a medium such as brake fluid; EMB replaces traditional hydraulic brakes and is used for main braking, and its scope of use has been expanded.

[0087] Figure 2 It is a schematic flow chart of an energy recovery method for a vehicle steering process provided in an embodiment of the present application.

[0088] For example, Figure 2 As shown, the method includes:

[0089] In step S201, the current vehicle speed, current steering angle, current brake pedal opening and current power level of the power battery are obtained.

[0090] Specifically, the embodiments of the present application can obtain the current speed of the vehicle through a vehicle speed sensor, obtain the current steering angle through the vehicle angle sensor, obtain the current brake pedal opening through a brake pedal sensor, and obtain the current power battery charge through a related power battery sensor.

[0091] Optionally, in some embodiments, after obtaining the vehicle's current speed, current steering angle, current brake pedal opening and current power battery charge, it also includes: determining whether the current vehicle speed is greater than a preset speed, whether the current steering angle is greater than a preset angle, whether the current brake pedal opening is greater than a preset opening, and whether the current power charge is less than a preset power; if the current vehicle speed is greater than the preset speed and the current steering angle is greater than the preset angle and the current brake pedal opening is greater than the preset opening and the current power charge is less than the preset power, then it is determined that the vehicle meets the preset energy recovery conditions.

[0092] Among them, the preset vehicle speed, preset angle, preset opening and preset power can be obtained through a limited number of experiments or a limited number of computer simulations, and are not specifically limited here.

[0093] It can be understood that the embodiments of the present application can determine whether the vehicle meets the preset energy recovery conditions after obtaining the vehicle's current speed, current steering angle, current brake pedal opening and current power battery charge. Specifically, the embodiments of the present application can determine that the vehicle meets the preset energy recovery conditions when the current vehicle speed is greater than the preset speed, the current steering angle is greater than the preset angle, the current brake pedal opening is greater than the preset opening and the current power battery charge is less than the preset power.

[0094] In step S202, when it is determined that the vehicle meets the preset energy recovery conditions based on the current power, current vehicle speed, current brake pedal opening and current steering angle, the current maximum allowable energy recovery torque is obtained based on the current power, current steering angle, current brake pedal opening and the current state of the drive motor.

[0095] In some embodiments, in order to prevent energy recovery from causing damage to the power battery or vehicle body instability, the present application can obtain the current maximum allowable energy recovery torque based on the current power, current steering angle, current brake pedal opening and the current state of the drive motor when it determines that the vehicle meets the preset energy recovery conditions.

[0096] Optionally, in some embodiments, the currently allowed maximum energy recovery torque is obtained based on the current power level, the current steering angle, the current brake pedal opening and the current state of the drive motor, including: obtaining the energy recovery limit of the power battery; determining the allowable charging power of the power battery based on the current power level and the energy recovery limit, and calculating the energy recovery duration based on the current steering angle and the current brake pedal opening; obtaining the maximum charging power of the power battery based on the allowable charging power and the energy recovery duration, and obtaining the currently allowed maximum energy recovery torque based on the maximum charging power and the current state of the drive motor.

[0097] Here, the embodiment of the present application further elaborates on how to obtain the currently allowed maximum energy recovery torque. Specifically, first determine whether braking energy recovery can be used based on the current power of the power battery. For example, when the current battery power is less than or equal to 95% of the rated total power of the power battery, motor energy recovery is available, indicating that the drive motor energy recovery can be performed at this time. The embodiment of the present application can obtain the allowed charging power based on the difference between 95% of the rated total power of the power battery and the current battery power, and obtain the estimated duration of energy recovery in combination with the vehicle braking demand (small, medium, and large deceleration braking demand), thereby determining the maximum allowed charging power; at the same time, determine the torque speed Map (corresponding relationship) capability of the energy recovery of the motor in the current state in combination with the drive motor state (temperature and other parameters); finally, calculate the drive motor speed through the wheel speed, and obtain the current maximum allowed energy recovery torque value through the maximum allowed charging power and the drive motor speed.

[0098] Optionally, in some embodiments, the allowable charging power of the power battery is determined based on the current power level and the energy recovery limit, including: if the difference between the energy recovery limit and the current power level is greater than a preset threshold, then the difference between the energy recovery limit and the current power level is used as the allowable charging power; otherwise, exit the energy recovery mode.

[0099] The preset threshold may be obtained through a limited number of experiments or a limited number of computer simulations, which is not specifically limited here.

[0100] It can be understood that in order to avoid damage to the power battery caused by overcharging, the embodiment of the present application can obtain the energy recovery limit of the battery, and determine the allowable charging power of the power battery according to the current power and the energy recovery limit. If the difference between the energy recovery limit and the current power is greater than the preset threshold, the difference between the energy recovery limit and the current power is used as the allowable charging power; otherwise, exit the energy recovery mode. For example, if the energy recovery limit is 95% of the rated total power of the power battery and the current power is 85% of the rated total power of the power battery, the allowable charging power can be 95% of the rated total power of the power battery - 85% of the rated total power of the power battery = 10% of the rated total power of the power battery. If the energy recovery limit is 95% of the rated total power of the power battery and the current power is 96% of the rated total power of the power battery, exit the energy recovery mode without energy recovery.

[0101] Optionally, in some embodiments, the drive motor speed is determined according to the current state of the drive motor, including: determining the torque speed Map of energy recovery of the drive motor according to the current state of the drive motor; calculating the drive motor speed according to the wheel speed of each wheel, and based on the torque speed Map, obtaining the currently allowed maximum energy recovery torque according to the maximum charging power and the drive motor speed.

[0102] It should be noted that the embodiments of the present application can pre-test the (torque-speed) Map characteristics of the motor capacity under different temperatures and voltages. In actual applications, the torque-speed Map of the energy recovery of the drive motor can be determined according to the current state of the drive motor. The drive motor speed can be calculated by the speed ratio of the reducer. Specifically, the drive motor speed*speed ratio of the reducer=wheel speed. It should be noted that when the motor speed is driven according to the wheel speed, if the four-wheel speeds are equal, it can be directly calculated by the above formula. If the four-wheel speeds are different, the embodiments of the present application can obtain the drive motor speed by performing relevant processing through the differential. The method of processing through the differential can adopt the method in the relevant technology. To avoid redundancy, it will not be described in detail here. Therefore, after the drive motor speed is calculated by the wheel speed of each wheel, the maximum energy recovery torque currently allowed is obtained based on the torque-speed Map and the maximum charging power and the drive motor speed.

[0103] Optionally, in some embodiments, before determining whether the vehicle meets the preset energy recovery conditions, it also includes: obtaining the current operating status of the caliper motor corresponding to each wheel; determining whether the current operating status of the caliper motors corresponding to all wheels are all fault-free; if the current operating status of the caliper motors corresponding to all wheels are all fault-free, it is allowed to determine that the vehicle meets the preset energy recovery conditions.

[0104] During the actual implementation process, in order to ensure that the subsequent wheels can recover energy normally, the embodiment of the present application can obtain the current operating status of the caliper motor corresponding to each wheel. When the current operating status of the caliper motors corresponding to all wheels are in a fault-free state, it is allowed to determine that the vehicle meets the preset energy recovery conditions. If the current operating status of the caliper motor corresponding to any wheel fails, the vehicle is not allowed to enter the energy recovery mode.

[0105] In step S203, the required braking torque of each wheel of the vehicle is determined based on the current steering angle and the current brake pedal opening, and the actual energy recovery torque of the vehicle is determined based on the current maximum allowable energy recovery torque and the required braking torque of each wheel, and braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque.

[0106] Specifically, to avoid vehicle body instability, the required braking torque of each wheel of the vehicle should be determined based on the current steering angle and the current brake pedal opening. At the same time, to avoid damage to the power battery, the currently allowed maximum energy recovery torque should be taken into account to determine the required braking torque of each wheel, and energy recovery should be performed in combination with the currently allowed maximum energy recovery torque and the required braking torque of each wheel.

[0107] Optionally, in some embodiments, the actual energy recovery torque of the vehicle is determined based on the currently allowed maximum energy recovery torque and the required braking torque of each wheel, including: obtaining the minimum required braking torque among all wheels; if the minimum required braking torque is less than or equal to the maximum energy recovery torque, using the minimum required braking torque as the actual energy recovery torque; otherwise, using the maximum energy recovery torque as the actual energy recovery torque.

[0108] Specifically, in order to avoid the state where the vehicle body is unstable or the energy is recovered too much, causing the vehicle to stop, during the energy recovery process, the embodiment of the present application can obtain the minimum required braking torque of all wheels. If the minimum required braking torque of all wheels is less than or equal to the maximum energy recovery torque, it means that if the energy recovery is performed according to the maximum energy recovery torque, the vehicle body may be unstable or the energy is recovered too much, causing the vehicle to stop. Therefore, the embodiment of the present application can use the minimum required braking torque as the actual energy recovery torque for energy recovery, and control the electronic mechanical braking system to compensate for the difference between the required braking torque of the corresponding wheel and the minimum required braking torque; if the minimum required braking torque of all wheels is greater than the maximum energy recovery torque, it means that if the energy recovery is performed according to the maximum energy recovery torque, the vehicle body will not be unstable or the energy is recovered too much, causing the vehicle to stop. Therefore, the embodiment of the present application can use the maximum energy recovery torque as the actual energy recovery torque.

[0109] Furthermore, in some embodiments, after braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque, it also includes: if the required braking torque of the wheel is greater than the actual energy recovery torque, the electronic mechanical braking system is controlled to compensate for the difference between the required braking torque of the corresponding wheel and the actual energy recovery torque.

[0110] It can be understood that after braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque, since the required braking torque of the wheel is greater than the actual energy recovery torque, energy recovery only according to the actual energy recovery torque cannot achieve the currently required braking effect. Therefore, the embodiment of the present application can calculate the difference between the required braking torque of each wheel and the actual energy recovery torque, and control the electronic mechanical braking system to compensate for the difference between the required braking torque of the corresponding wheel and the actual energy recovery torque, thereby achieving the currently required braking effect while performing energy recovery.

[0111] Optionally, in some embodiments, after energy recovery is performed according to the required braking torque of each wheel and the energy recovery torque of each wheel, it also includes: obtaining the vehicle speed after energy recovery and the steering angle after energy recovery; if the vehicle speed after energy recovery is less than or equal to the preset vehicle speed, or the steering angle after energy recovery is less than or equal to the preset angle, exiting the energy recovery mode.

[0112] Specifically, after energy recovery, the embodiment of the present application can also obtain the vehicle speed through the vehicle speed sensor and determine the vehicle's steering angle through the angle sensor. If the energy recovery speed is less than the preset speed, or the vehicle steering angle is less than or equal to the preset angle, the energy recovery mode is exited.

[0113] Therefore, through the embodiments of the present application, the braking force of each wheel of the vehicle can be reasonably distributed, the road conditions can be fully utilized to achieve optimal energy utilization, all or part of the braking energy can be recovered to reduce energy consumption and emissions, while increasing the cruising range.

[0114] According to the energy recovery method for the vehicle steering process of the embodiment of the present application, the current vehicle speed, current steering angle, current brake pedal opening and current power of the power battery are obtained; when it is determined that the vehicle meets the preset energy recovery conditions according to the current power, current vehicle speed, current brake pedal opening and current steering angle, the currently allowed maximum energy recovery torque is obtained according to the current power, current steering angle, current brake pedal opening and the current state of the drive motor; the required braking torque of each wheel of the vehicle is determined according to the current steering angle and the current brake pedal opening, and the actual energy recovery torque of the vehicle is determined according to the currently allowed maximum energy recovery torque and the required braking torque of each wheel, and braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque. As a result, the problem of the related technology that the vehicle body is easily unstable, the vehicle skids and the energy recovery efficiency is affected when energy is recovered during the steering process is solved, and energy can be recovered for each wheel through the braking force and energy recovery value of each wheel to prevent the vehicle from skidding, improve energy recovery efficiency and reduce safety risks.

[0115] Figure 3 It is a block diagram of an energy recovery device for a vehicle steering process provided in an embodiment of the present application.

[0116] For example, Figure 3 As shown, the device may include: an acquisition module 100 , a determination module 200 and an energy recovery module 300 .

[0117] The acquisition module 100 is used to acquire the current vehicle speed, the current steering angle, the current brake pedal opening and the current power of the power battery.

[0118] The determination module 200 is used to determine whether the vehicle meets the preset energy recovery conditions based on the current power, current vehicle speed, current brake pedal opening and current steering angle, and obtain the current maximum allowable energy recovery torque based on the current power, current steering angle, current brake pedal opening and current state of the drive motor.

[0119] The energy recovery module 300 is used to determine the required braking torque of each wheel of the vehicle based on the current steering angle and the current brake pedal opening, and to determine the actual energy recovery torque of the vehicle based on the current maximum allowable energy recovery torque and the required braking torque of each wheel, and to perform braking and energy recovery during the vehicle steering process according to the actual energy recovery torque.

[0120] Optionally, in some embodiments, the determination module 200 includes: a first acquisition unit, a calculation unit and a determination unit.

[0121] Wherein, the first acquisition unit is used to obtain the energy recovery limit value of the power battery.

[0122] The calculation unit is used to determine the allowable charging power of the power battery according to the current power and the energy recovery limit, and calculate the energy recovery duration according to the current steering angle and the current brake pedal opening.

[0123] The determination unit is used to obtain the maximum charging power of the power battery according to the allowed charging power and the energy recovery duration, and to obtain the currently allowed maximum energy recovery torque according to the maximum charging power and the current state of the drive motor.

[0124] Optionally, in some embodiments, the computing unit includes: a generating subunit.

[0125] Among them, the generation subunit is used to use the difference between the energy recovery limit value and the current power as the allowable charging power when the difference between the energy recovery limit value and the current power is greater than a preset threshold; otherwise, exit the energy recovery mode.

[0126] Optionally, in some embodiments, the determination unit includes: a first determination subunit and a first calculation subunit.

[0127] The first determining subunit is used to determine the torque speed Map of energy recovery of the driving motor according to the current state of the driving motor.

[0128] The first calculation subunit is used to calculate the driving motor speed according to the wheel speed of each wheel, and obtain the currently allowed maximum energy recovery torque according to the maximum charging power and the driving motor speed based on the torque speed Map.

[0129] Optionally, in some embodiments, the energy recovery module 300 includes: a second acquisition unit and a first control unit.

[0130] The second acquisition unit acquires the minimum required braking torque of all wheels.

[0131] A first control unit, configured to use the minimum required braking torque as the actual energy recovery torque when the minimum required braking torque is less than or equal to the maximum energy recovery torque;

[0132] Otherwise, the maximum energy recovery torque is taken as the actual energy recovery torque.

[0133] Optionally, in some embodiments, after braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque, the energy recovery module 300 further includes: a second control unit.

[0134] Among them, the second control unit is used to control the electronic mechanical braking system to compensate for the difference between the required braking torque of the corresponding wheel and the actual energy recovery torque when the required braking torque of the wheel is greater than the actual energy recovery torque.

[0135] Optionally, in some embodiments, after acquiring the current vehicle speed, current steering angle, current brake pedal opening and current power of the power battery, the acquisition module 100 further includes: a judgment unit and a determination unit.

[0136] Among them, the judgment unit is used to judge whether the current vehicle speed is greater than the preset vehicle speed, whether the current steering angle is greater than the preset angle, whether the current brake pedal opening is greater than the preset opening, and whether the current power is less than the preset power.

[0137] The determination unit determines that the vehicle meets a preset energy recovery condition if the current vehicle speed is greater than a preset vehicle speed, the current steering angle is greater than a preset angle, the current brake pedal opening is greater than a preset opening, and the current power is less than a preset power.

[0138] Optionally, in some embodiments, before determining whether the vehicle meets a preset energy recovery condition, the determination unit further includes: an acquisition subunit, a judgment subunit and a determination subunit.

[0139] The acquisition subunit is used to acquire the current operating status of the caliper motor corresponding to each wheel.

[0140] The judging subunit is used to judge whether the current operating states of the caliper motors corresponding to all wheels are all in a fault-free state.

[0141] The determination subunit is used to allow determination that the vehicle meets a preset energy recovery condition when the current operating states of the caliper motors corresponding to all wheels are all in a fault-free state.

[0142] Optionally, in some embodiments, after performing energy recovery according to the required braking torque of each wheel and the energy recovery torque of each wheel, the energy recovery module 300 further includes: a third acquisition unit and a stop unit.

[0143] Among them, the third acquisition unit acquires the vehicle speed after energy recovery and the steering angle after energy recovery.

[0144] The stop unit is used to exit the energy recovery mode when the vehicle speed after energy recovery is less than or equal to a preset vehicle speed, or when the steering angle after energy recovery is less than or equal to a preset angle.

[0145] It should be noted that the specific implementation of the energy recovery device in the vehicle steering process of the embodiment of the present application is similar to the specific implementation of the energy recovery method in the vehicle steering process. In order to reduce redundancy, it will not be repeated here.

[0146] According to the energy recovery device for the vehicle steering process of the embodiment of the present application, the current vehicle speed, current steering angle, current brake pedal opening and current power of the power battery are obtained; when it is determined that the vehicle meets the preset energy recovery conditions according to the current power, current vehicle speed, current brake pedal opening and current steering angle, the currently allowed maximum energy recovery torque is obtained according to the current power, current steering angle, current brake pedal opening and the current state of the drive motor; the required braking torque of each wheel of the vehicle is determined according to the current steering angle and the current brake pedal opening, and the actual energy recovery torque of the vehicle is determined according to the currently allowed maximum energy recovery torque and the required braking torque of each wheel, and braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque. As a result, the problem of the related technology that the vehicle body is easily unstable, the vehicle skids and the energy recovery efficiency is affected when energy is recovered during the steering process is solved, and energy can be recovered for each wheel through the braking force and energy recovery value of each wheel to prevent the vehicle from skidding, improve energy recovery efficiency and reduce safety risks.

[0147] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0148] It should be understood that the above-described method can be applied to Figure 4 In a vehicle of the structure shown.

[0149] In addition, an embodiment of the present application also protects a device that can be used in a vehicle. The device may include a memory 401 and a processor 402, wherein the memory 401 stores an executable program code, and the processor 402 is used to call and execute the executable program code to execute the energy recovery method for the vehicle steering process provided in the embodiment of the present application.

[0150] Furthermore, the device also includes: a communication interface 403 for communication between the memory 401 and the processor 402 .

[0151] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0152] In the case of dividing each functional module according to each function, the device may also include a judgment module, an acquisition module, an energy recovery module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0153] It should be understood that the device provided in this embodiment is used to execute the energy recovery method of the above-mentioned vehicle steering process, thereby achieving the same effect as the above-mentioned implementation method.

[0154] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a car, the processing module may be used to control and manage the actions of the car. The storage module may be used to support the car to execute mutual program codes, etc.

[0155] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0156] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the energy recovery method for the vehicle steering process provided in the above embodiments.

[0157] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement an energy recovery method for a vehicle steering process provided in the above embodiment.

[0158] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement an energy recovery method for a vehicle steering process provided in the above embodiment.

[0159] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0160] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0161] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0162] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for energy recovery during vehicle steering, characterized in that: The vehicle independently controls each wheel through an electromechanical braking system, wherein the method comprises the following steps: Obtaining the current speed, current steering angle, current brake pedal opening and current power level of the power battery of the vehicle; When it is determined that the vehicle meets a preset energy recovery condition according to the current power, the current vehicle speed, the current brake pedal opening and the current steering angle, the current maximum energy recovery torque allowed is obtained according to the current power, the current steering angle, the current brake pedal opening and the current state of the drive motor; and The required braking torque of each wheel of the vehicle is determined according to the current steering angle and the current brake pedal opening, and the actual energy recovery torque of the vehicle is determined according to the current maximum allowable energy recovery torque and the required braking torque of each wheel, and braking and energy recovery are performed during the vehicle steering process according to the actual energy recovery torque.

2. The method according to claim 1, characterized in that The currently allowed maximum energy recovery torque is obtained according to the current power, the current steering angle, the current brake pedal opening and the current state of the drive motor, including: Obtaining an energy recovery limit value of the power battery; determining the allowable charging power of the power battery according to the current power and the energy recovery limit, and calculating the energy recovery duration according to the current steering angle and the current brake pedal opening; The maximum charging power of the power battery is obtained according to the allowed charging power and the energy recovery duration, and the currently allowed maximum energy recovery torque is obtained according to the maximum charging power and the current state of the drive motor.

3. The method according to claim 2, characterized in that The determining the allowable charging power of the power battery according to the current power and the energy recovery limit value includes: If the difference between the energy recovery limit value and the current power is greater than a preset threshold, the difference between the energy recovery limit value and the current power is used as the allowed charging power; otherwise, the energy recovery mode is exited.

4. The method according to claim 2, characterized in that: The obtaining the currently allowed maximum energy recovery torque according to the maximum charging power and the current state of the driving motor includes: Determining a torque speed Map of energy recovery of the drive motor according to a current state of the drive motor; The driving motor speed is calculated according to the wheel speed of each wheel, and based on the torque speed Map, the currently allowed maximum energy recovery torque is obtained according to the maximum charging power and the driving motor speed.

5. The method according to claim 1, characterized in that The determining the actual energy recovery torque of the vehicle according to the currently allowed maximum energy recovery torque and the required braking torque of each wheel includes: Obtain the minimum required braking torque among all wheels; If the minimum required braking torque is less than or equal to the maximum energy recovery torque, the minimum required braking torque is used as the actual energy recovery torque; Otherwise, the maximum energy recovery torque is used as the actual energy recovery torque.

6. The method according to claim 1, characterized in that After braking and energy recovery are performed in the vehicle steering process according to the actual energy recovery torque, the method further includes: If the required braking torque of the wheel is greater than the actual energy recovery torque, the electronic mechanical braking system is controlled to compensate for the difference between the required braking torque of the corresponding wheel and the actual energy recovery torque.

7. The method according to claim 1, characterized in that After obtaining the current vehicle speed, current steering angle, current brake pedal opening and current power of the power battery of the vehicle, it also includes: Determine whether the current vehicle speed is greater than a preset vehicle speed, whether the current steering angle is greater than a preset angle, whether the current brake pedal opening is greater than a preset opening, and whether the current power is less than a preset power; If the current vehicle speed is greater than the preset vehicle speed, the current steering angle is greater than the preset angle, the current brake pedal opening is greater than the preset opening, and the current power is less than the preset power, it is determined that the vehicle meets the preset energy recovery conditions.

8. The method according to claim 6, characterized in that Before determining that the vehicle meets the preset energy recovery condition, the method further includes: Obtaining the current operating status of the caliper motor corresponding to each wheel; Determine whether the current operating states of the caliper motors corresponding to all wheels are all in a fault-free state; If the current operating states of the caliper motors corresponding to all the wheels are in the non-fault state, it is allowed to determine that the vehicle meets the preset energy recovery condition.

9. The method according to claim 1, characterized in that: After performing energy recovery according to the required braking torque of each wheel and the energy recovery torque of each wheel, the method further includes: Acquiring the vehicle speed after energy recovery and the steering angle after energy recovery of the vehicle; If the vehicle speed after the energy recovery is less than or equal to the preset vehicle speed, or the steering angle after the energy recovery is less than or equal to the preset angle, the energy recovery mode is exited.

10. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the energy recovery method for a vehicle steering process as claimed in any one of claims 1 to 9.

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