Energy recovery method and device, electronic equipment and computer readable storage medium

Abstract

The invention discloses an energy recovery method and device, electronic equipment and a readable storage medium, and the method comprises the steps: obtaining a wheel end torque initial value and a motor rotating speed of a vehicle when the vehicle slides or brakes; compensating the initial value of the wheel end torque based on the transmission parameters; determining a wheel end torque target value according to a compensation result; determining feedback power of the electric drive system according to the wheel end torque target value and the motor rotating speed; and processing the feedback power of the electric drive system according to the maximum recovery power of the battery system, and determining target recovery power. Thus, the obtained initial value of the wheel end torque is compensated to determine the target value of the wheel end torque, the feedback power of the electric drive system is improved, the maximum recovery power of the battery system is combined when the target recovery power is determined, the effect of further compensating the feedback power of the electric drive system is achieved, the recovery energy of the vehicle is improved, and the vehicle safety is improved. And the hardware cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of electric vehicles, and in particular to an energy recovery method, device, electronic device, and computer-readable storage medium. Background Art

[0002] As the production and sales of new energy vehicles continue to grow, users of new energy vehicles are paying more and more attention to the economic performance of new energy vehicles. In the same price range and with the same power, users are more inclined to buy models with longer driving range. Braking energy recovery is an "open source" for the energy of new energy vehicles. The more energy is recovered, the longer the driving range.

[0003] In the prior art, when determining the vehicle's recovery negative torque, the maximum negative torque allowed by the battery system is usually calculated based on the maximum recovery power of the battery system, and then the recovery negative torque is determined directly based on the maximum negative torque allowed by the motor, the negative torque transmitted by the entire wheel end, and the maximum negative torque allowed by the battery system. The recovery negative torque is then determined based on the recovery negative torque. It can be seen that energy recovery in this way requires a large degree of reliance on the efficiency improvement of various hardware on the transmission path, and there are problems such as high hardware costs, increased R&D and testing costs, and increased technical complexity. Summary of the invention

[0004] The purpose of the present application is to provide an energy recovery method, device, electronic device and computer-readable storage medium, which are helpful to improve the vehicle's recovered energy and reduce hardware costs.

[0005] To achieve the above objectives: In a first aspect, an embodiment of the present application provides an energy recovery method, comprising: When the vehicle is sliding or braking, obtaining the initial value of the wheel end torque and the motor speed of the vehicle; Performing compensation processing on the initial value of the wheel end torque based on the transmission parameter; Determine the wheel end torque target value according to the compensation result; Determining the feedback power of the electric drive system according to the wheel end torque target value and the motor speed; The feedback power of the electric drive system is processed according to the maximum recovery power of the battery system to determine the target recovery power.

[0006] In one embodiment, when the transmission parameter is an efficiency value, the compensating the initial value of the wheel end torque based on the transmission parameter includes: According to the motor speed and the initial value of the wheel end torque, querying preset efficiency relationship data to determine a target efficiency value; the efficiency relationship data is used to characterize the relationship between the motor speed and the wheel end torque corresponding to the efficiency value; The initial value of the wheel end torque is compensated and calculated according to the target efficiency value.

[0007] In one embodiment, determining the wheel end torque target value according to the compensation result includes: Determine a compensation torque obtained by performing compensation calculation on the initial value of the wheel end torque; A maximum negative torque allowed by motor braking of the vehicle is acquired, and a relatively smaller value between the maximum negative torque and the compensation torque is determined as the wheel end torque target value.

[0008] In one embodiment, determining the feedback power of the electric drive system according to the wheel end torque target value and the motor speed includes: The product of the wheel end torque target value and the motor speed is calculated, and the feedback power of the electric drive system is determined according to the product.

[0009] In one embodiment, before the regenerative power of the electric drive system is processed according to the maximum regenerative power of the battery system to determine the target regenerative power, the method further includes: obtaining an initial maximum recovery power of the battery system and a power consumption of a high-voltage component of the vehicle; The maximum recovery power of the battery system is determined according to the power consumption of the high-voltage component and the initial maximum recovery power of the battery system.

[0010] In one embodiment, obtaining the initial maximum recovery power of the battery system includes: Obtaining battery status information of the vehicle; According to the battery status information, preset recovery power data is searched to obtain the initial maximum recovery power of the battery system; the recovery power data is used to characterize the corresponding relationship between the battery status information and the recovery power.

[0011] In one embodiment, the processing of the regenerated power of the electric drive system according to the maximum regenerated power of the battery system to determine the target regenerated power includes: comparing the maximum recovery power of the battery system with the feedback power of the electric drive system; A relatively smaller value between the maximum recovery power of the battery system and the regenerative power of the electric drive system is determined as the target recovery power.

[0012] In a second aspect, an embodiment of the present invention provides an energy recovery device, comprising: An acquisition module, used for acquiring an initial value of the wheel end torque and a motor speed of the vehicle when the vehicle is sliding or braking; A compensation module, used for compensating the initial value of the wheel end torque based on a transmission parameter; A wheel end torque target value determination module, used to determine the wheel end torque target value according to the compensation result; A feedback power determination module, used to determine the feedback power of the electric drive system according to the wheel end torque target value and the motor speed; The processing module is used to process the feedback power of the electric drive system according to the maximum recovery power of the battery system to determine the target recovery power.

[0013] In one embodiment, the compensation module is used to: According to the motor speed and the initial value of the wheel end torque, querying preset efficiency relationship data to determine a target efficiency value; the efficiency relationship data is used to characterize the relationship between the motor speed and the wheel end torque corresponding to the efficiency value; The initial value of the wheel end torque is compensated and calculated according to the target efficiency value.

[0014] In one implementation, the wheel end torque target value determination module is used to: Determine a compensation torque obtained by performing compensation calculation on the initial value of the wheel end torque; A maximum negative torque allowed by motor braking of the vehicle is acquired, and a relatively smaller value between the maximum negative torque and the compensation torque is determined as the wheel end torque target value.

[0015] In one implementation, the feedback power determination module is used to: The product of the wheel end torque target value and the motor speed is calculated, and the feedback power of the electric drive system is determined according to the product.

[0016] In one embodiment, the device further includes a maximum recovery power determination module, configured to: obtaining an initial maximum recovery power of the battery system and a power consumption of a high-voltage component of the vehicle; The maximum recovery power of the battery system is determined according to the power consumption of the high-voltage component and the initial maximum recovery power of the battery system.

[0017] In one implementation, the maximum recovery power determination module is used to: Obtaining battery status information of the vehicle; According to the battery status information, preset recovery power data is searched to obtain the initial maximum recovery power of the battery system; the recovery power data is used to characterize the corresponding relationship between the battery status information and the recovery power.

[0018] In one embodiment, the processing module is used to: comparing the maximum recovery power of the battery system with the feedback power of the electric drive system; A relatively smaller value between the maximum recovery power of the battery system and the regenerative power of the electric drive system is determined as the target recovery power.

[0019] In a third aspect, an embodiment of the present application provides an electronic device, specifically comprising: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to perform the energy recovery method as described in the first aspect.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement the energy recovery method described in the first aspect.

[0021] The energy recovery method, device, electronic device and computer-readable storage medium provided in the embodiments of the present application include: when the vehicle slides or brakes, obtaining the initial value of the wheel-end torque and the motor speed of the vehicle; compensating the initial value of the wheel-end torque based on the transmission parameters; determining the target value of the wheel-end torque according to the compensation result; determining the feedback power of the electric drive system according to the target value of the wheel-end torque and the motor speed; processing the feedback power of the electric drive system according to the maximum recovery power of the battery system to determine the target recovery power. In this way, the feedback power of the electric drive system is improved by compensating the obtained initial value of the wheel-end torque to determine the target value of the wheel-end torque, and the maximum recovery power of the battery system is combined when determining the target recovery power, so as to achieve the effect of further compensating the feedback power of the electric drive system, which helps to improve the recovery energy of the vehicle and reduce the hardware cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a process flow of an energy recovery method provided by an embodiment of the present invention; Figure 2 A schematic diagram of a specific process of an energy recovery method provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of an energy recovery device provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0024] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0025] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0026] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0027] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0028] 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.

[0029] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0030] See also Figure 1 , the embodiment of the present application provides an energy recovery method, which increases the energy recovered by the whole vehicle without increasing or reducing the hardware cost, thereby achieving the purpose of increasing the endurance of the whole vehicle. In this embodiment, the energy recovery method is applied to electronic equipment as an example, and the energy recovery method provided by this embodiment includes: Step S101: When the vehicle is sliding or braking, the initial value of the wheel end torque and the motor speed of the vehicle are obtained.

[0031] Optionally, the initial value of the wheel-end torque and the motor speed can be obtained in real time through the vehicle's sensors and control unit. Among them, the initial value of the wheel-end torque is the negative torque value measured at the moment the vehicle starts to slip or brake. The motor speed refers to the rotation speed of the electric motor in the vehicle's power system, usually expressed in revolutions per minute (RPM). Here, the motor speed can be calculated based on the current vehicle speed, expressed by the formula: n = ifd / (0.10471975*radius*3.6). Among them, n represents the speed in rpm; ifd represents the gearbox ratio; radius represents the wheel rolling radius in meters.

[0032] Step S102: Compensating the initial value of the wheel end torque based on the transmission parameters.

[0033] Optionally, the compensation process includes adjusting the initial value of the wheel-end torque to meet the actual braking demand, that is, by increasing the negative torque to ensure that the braking process is smooth and effective. Here, the wheel-end torque target value is the final value determined after the compensation process, which is the negative torque that should be applied to achieve the ideal braking effect of the vehicle to ensure the stability and safety of the vehicle during sliding or braking. In this way, when the final feedback negative torque is transmitted to the wheel side, the initial value of the wheel-end torque is compensated to compensate for the weakening of the initial value of the wheel-end torque during the vehicle conversion process, thereby improving the energy recovery capability of the vehicle.

[0034] In one implementation, when the transmission parameter is an efficiency value, the initial value of the wheel end torque is compensated based on the transmission parameter, including: According to the initial values ​​of the motor speed and the wheel-end torque, the preset efficiency relationship data is queried to determine the target efficiency value; the efficiency relationship data is used to characterize the relationship between the motor speed and the wheel-end torque corresponding to the efficiency value; The initial value of the wheel end torque is compensated and calculated according to the target efficiency value.

[0035] Optionally, during the vehicle development process, efficiency tests are performed based on the vehicle's motor speed and wheel-end torque, and the efficiency values ​​corresponding to different motor speeds and different wheel-end torques are recorded. Here, the efficiency relationship data can be represented in the form of a MAP diagram, specifically a two-dimensional matrix table drawn with wheel-end torque as the X side, motor speed as the Y side, and efficiency value as the Z side. In this way, the current efficiency value can be determined directly by looking up the efficiency relationship data.

[0036] In one embodiment, the transmission parameter may also be a fixed parameter preset based on user needs, so that the initial value of the wheel end torque may be compensated directly based on the preset transmission parameter.

[0037] In other implementations, the initial value of the wheel-end torque may be compensated according to a certain ratio based on the transmission ratio, efficiency and other parameters of the transmission system. Alternatively, a mathematical model of the transmission system may be established to predict the demand for wheel-end torque under different working conditions, and the initial value of the wheel-end torque may be compensated accordingly. The specific method of compensating the initial value of the wheel-end torque is not limited herein.

[0038] Step S103: Determine the wheel end torque target value according to the compensation result.

[0039] In one embodiment, determining the wheel end torque target value according to the compensation result includes: Determine a compensation torque obtained by performing a compensation calculation on an initial value of the wheel end torque; The maximum negative torque allowed by the motor brake of the vehicle is obtained, and a relatively smaller value between the maximum negative torque and the compensation torque is determined as a wheel end torque target value.

[0040] Optionally, the compensation torque can be calculated by calculating the quotient between the initial value of the wheel-end torque and the transmission parameter. Taking the transmission parameter as the efficiency value as an example, the target efficiency value is determined, and the compensation torque is calculated, which can be expressed by the formula: compensation torque = initial value of wheel-end torque / target efficiency value, to determine the size of the wheel-end torque that the motor needs to provide.

[0041] Optionally, since the output of the wheel-end torque of the motor is not unlimited, it is also necessary to determine the safety threshold of the maximum negative torque allowed by the motor braking to ensure that the motor is not damaged or the vehicle is not out of control due to excessive negative torque. Here, the maximum negative torque allowed by the motor braking is compared with the obtained compensation torque, and the smaller value is selected as the wheel-end torque target value to ensure that the braking process is both effective and safe while avoiding exceeding the maximum bearing capacity of the motor. It can be understood that if the compensation torque is greater than the maximum negative torque, the maximum negative torque is used as the wheel-end torque target value to prevent overload; if the compensation torque is less than or equal to the maximum negative torque, the compensation torque is directly used as the wheel-end torque target value.

[0042] Step S104: Determine the feedback power of the electric drive system according to the wheel end torque target value and the motor speed.

[0043] The regenerative power of the electric drive system is the electric power generated by the motor during regenerative braking and is ready to be fed back to the battery system. Here, the vehicle's regenerative power is determined by the wheel-end torque target value and the motor speed to further determine how much energy can be recovered from the braking process and stored in the battery, which helps to optimize energy recovery and improve the energy efficiency of the vehicle, thereby extending the vehicle's range and reducing energy consumption.

[0044] In one embodiment, the feedback power of the electric drive system is determined according to the wheel end torque target value and the motor speed, including: The product of the wheel-end torque target value and the motor speed is calculated, and the feedback power of the electric drive system is determined based on the product.

[0045] Optionally, when calculating the regenerative power based on the wheel-end torque target value and the motor speed, a constant 9550 may be set to take into account the unit conversion problem, which can be expressed by the formula: P = n*T / 9550. Wherein, P represents the regenerative power in kW; n represents the motor speed in rpm; and T represents the torque in Nm.

[0046] Step S105: Processing the regenerative power of the electric drive system according to the maximum regenerative power of the battery system to determine the target regenerative power.

[0047] The maximum recovery power of the battery system represents the maximum electrical energy that the battery system can safely and effectively recover under current conditions, including the battery's charging capacity, the motor's power generation efficiency, the design of the energy management system, and the vehicle's current operating status. In this way, the maximum recovery power of the battery system ensures that during regenerative braking, the battery will not be damaged or the vehicle's stability will not be affected due to excessive energy input.

[0048] Here, the maximum recovery power of the battery system is combined with the feedback power of the electric drive system in the final stage to determine the target recovery power, which is a disguised compensation for the electric power fed back by the electric drive, and once again increases the final recovery power value. The logical explanation includes: the maximum recovery power of the battery system in the prior art is used to calculate the negative torque allowed by the battery / system, that is, the maximum recovery power of the battery system is used as the first mechanical power value obtained. At this time, after the power value obtained previously is converted by the power generation efficiency of the electric drive system, the obtained electric drive feedback power value is obviously smaller than the maximum recovery power of the battery system. This power loss is caused by the power loss of the electric drive system. Under the optimized new algorithm, the maximum recovery power of the battery system is only used to make a small judgment with the feedback power of the electric drive system in the end, without the power loss converted by the electric drive system. In this way, the efficiency of the electric drive system is compensated for the feedback power in a disguised manner, and the recovery energy of the vehicle is improved.

[0049] In one embodiment, the regenerative power of the electric drive system is processed according to the maximum regenerative power of the battery system, and before the target regenerative power is determined, the method further includes: Obtaining an initial maximum recovery power of the battery system and a power consumption of a high-voltage component of the vehicle; The maximum recovery power of the battery system is determined according to the power consumption of the high-voltage component and the initial maximum recovery power of the battery system.

[0050] Among them, the high-voltage components of the vehicle include the large on-board screen, on-board air conditioner, motor controller, battery controller, vehicle controller, etc. In this way, the power consumption of the high-voltage components of the vehicle is taken into account to further increase the allowable limit of the recovered electric power.

[0051] Optionally, the sum of the power consumption of the high-voltage component and the initial maximum recovery power of the battery system is calculated, and the maximum recovery power of the battery system is determined based on the sum of the power consumption of the high-voltage component and the initial maximum recovery power of the battery system, which helps to improve the recovery power of the vehicle and protect the battery and the high-voltage component from damage. Here, the sum of the power consumption of the high-voltage component and the initial maximum recovery power of the battery system can be directly determined as the maximum recovery power of the battery system, or considering the consumption of other power of the vehicle, a preset parameter value can be added to the sum of the power consumption of the high-voltage component and the initial maximum recovery power of the battery system to determine the maximum recovery power of the battery system.

[0052] In one embodiment, obtaining an initial maximum recovery power of a battery system in a vehicle includes: Get the vehicle's battery status information; According to the battery status information, the preset recovery power data is searched to obtain the initial maximum recovery power of the battery system. The recovery power data is used to characterize the corresponding relationship between the battery status information and the recovery power.

[0053] Among them, the battery status information includes the remaining battery power, battery temperature, etc. Optionally, the initial maximum recovery power of the battery system can be confirmed by the power recovery MAP diagram. Since there are various sensors in the battery, such as voltage sensors, current sensors, and temperature sensors, these sensors sense various parameters of the battery. These parameters are transmitted to the battery management system (BMS) in the form of CAN messages, and control the battery charging and discharging, monitor the battery power temperature changes and other information. Among them, the power recovery MAP diagram can be set to a two-dimensional matrix table with the battery SOC as the X-axis, the battery temperature as the Y-axis, and the maximum recovery power as the Z value. In this way, the initial maximum recovery power of the battery system can be directly determined by looking up the power recovery MAP diagram.

[0054] In one embodiment, the regenerative power of the electric drive system is processed according to the maximum regenerative power of the battery system to determine the target regenerative power, including: Compare the maximum regenerative power of the battery system with the regenerative power of the electric drive system; The relatively smaller value between the maximum recovery power of the battery system and the feedback power of the electric drive system is determined as the target recovery power.

[0055] Optionally, if the regenerative power of the electric drive system is less than or equal to the maximum regenerative power of the battery system, the regenerative power of the electric drive system is determined as the target regenerative power, indicating that all available energy is regenerated without exceeding the capacity of the battery system. If the regenerative power of the electric drive system is greater than the maximum regenerative power of the battery system, the maximum regenerative power of the battery system is determined as the target power to prevent the battery system from overloading, thereby ensuring the safe operation of the battery system.

[0056] In summary, in the energy recovery method provided in the above embodiment, the target wheel-end torque value is determined by compensating the acquired initial wheel-end torque value, thereby improving the feedback power of the electric drive system. Moreover, the maximum recovery power of the battery system is combined when determining the target recovery power, thereby achieving the effect of further compensating for the feedback power of the electric drive system, helping to improve the vehicle's recovery energy and reducing hardware costs.

[0057] Based on the same inventive concept as the above embodiments, the energy recovery method provided by the present application is described in detail below through a specific example. Figure 2 As shown, the following process is included: Step S201, calculating the motor speed according to the vehicle speed.

[0058] Optionally, the motor speed calculated according to the current vehicle speed can be expressed by the formula: n = ifd / (0.10471975*radius*3.6), where n represents the speed in rpm, ifd represents the gearbox ratio, and radius represents the wheel rolling radius in meters.

[0059] Step S202: The wheel end of the vehicle transmits negative torque.

[0060] Optionally, the negative torque value required by the electric drive when performing recovery and power generation is obtained by the electric drive electronic control request, so for each efficiency data step, a memory module (Memory) is used in the program to store and read these real-time updated efficiency data, and feed them back to the initial value of the wheel-end torque.

[0061] Step S203: determining an efficiency value based on preset recovery power data.

[0062] Optionally, the efficiency MAP of the transmission system is determined by taking the preset recovery power data as an example. The general MAP can be submitted to the OEM based on the characteristics of the system as determined by the supplier. Here, MAP Figure 1It is generally a two-dimensional matrix table of efficiency values ​​corresponding to motor speed and wheel-end torque. Here, the current efficiency value of the transmission system can be obtained by looking up the table through the input motor speed and the initial value of the wheel-end torque. Here, the current efficiency value of the transmission system, the efficiency value is a dimensionless value, less than 1, which characterizes the transfer characteristics of a system.

[0063] For example, if a powertrain has an efficiency value of 0.9, this means that the system is able to convert 90% of the input power into output power, and the remaining 10% may be lost during the transmission process, such as through heat or friction losses.

[0064] Step S204: Perform efficiency compensation based on the efficiency value.

[0065] Optionally, the efficiency value can be calculated based on the transmitted efficiency value by the formula: T_eff = T / eff. Among them, T_eff represents the compensation torque of the wheel-end power generation after efficiency compensation, in Nm; T represents the initial value of the wheel-end torque transmitted from the entire wheel end, in Nm; eff represents the current efficiency value of the transmission system. Here, the initial value of the wheel-end torque is compensated by the efficiency value of the transmission system to prevent the transmission efficiency loss when the final recovery power generation torque is used as the wheel braking torque to the wheel side.

[0066] Step S205: Determine the maximum negative torque allowed by the motor mechanics.

[0067] The maximum negative torque allowed by the motor mechanics is the maximum negative torque allowed by the motor mechanical characteristics.

[0068] Step S206: perform a smaller calculation to determine the wheel end torque target value.

[0069] Optionally, the calculated compensation torque is compared with the maximum negative torque allowed by the motor machinery, and a relatively smaller torque value is used as the wheel end torque target value.

[0070] Step S207: Calculate the electric power recovered by the electric drive.

[0071] Optionally, the regenerative power can be calculated based on the wheel-end torque target value and the motor speed, which can be expressed by the formula: P = n*T / 9550. Wherein, P represents the regenerative power in kW; n represents the motor speed in rpm; and T represents the torque in Nm.

[0072] Step S208: output wheel braking torque.

[0073] Step S209: determine the maximum recovery power of the battery system.

[0074] First, the battery status information of the vehicle is obtained, and according to the battery status information, the preset recovery power data is searched to obtain the initial maximum recovery power of the battery system. Secondly, the power consumption of the high-voltage components of the vehicle is obtained, including the high-voltage components in the vehicle, such as the motor controller, inverter, electric compressor, etc. Then, the sum of the power consumption of the high-voltage components and the initial maximum recovery power of the battery system is determined as the maximum recovery power of the battery system.

[0075] Step S210: perform a smaller calculation to determine the target recovery power.

[0076] Optionally, the final target recovery power is obtained by taking the smaller of the recovery power of the electric drive system and the maximum recovery power of the battery system determined by the electric drive recovery, which helps to improve the recovery power of the vehicle and protect the battery and high-voltage components from damage.

[0077] In summary, in the energy recovery method provided in the above embodiment, the target wheel-end torque value is determined by compensating the acquired initial wheel-end torque value, thereby improving the feedback power of the electric drive system. Moreover, the maximum recovery power of the battery system is combined when determining the target recovery power, thereby achieving the effect of further compensating for the feedback power of the electric drive system, helping to improve the vehicle's recovery energy and reducing hardware costs.

[0078] Based on the same inventive concept as the above embodiments, refer to Figure 3 , the present application provides an energy recovery device, comprising: An acquisition module, used to acquire the initial value of the wheel end torque and the motor speed of the vehicle when the vehicle slides or brakes; A compensation module, used for compensating the initial value of the wheel end torque based on the transmission parameters; A wheel end torque target value determination module, used to determine the wheel end torque target value according to the compensation result; A feedback power determination module, used to determine the feedback power of the electric drive system according to the wheel end torque target value and the motor speed; The processing module is used to process the feedback power of the electric drive system according to the maximum recovery power of the battery system to determine the target recovery power.

[0079] In one embodiment, the compensation module is used to: According to the initial values ​​of the motor speed and the wheel-end torque, the preset efficiency relationship data is queried to determine the target efficiency value; the efficiency relationship data is used to characterize the relationship between the motor speed and the wheel-end torque corresponding to the efficiency value; The initial value of the wheel end torque is compensated and calculated according to the target efficiency value.

[0080] In one embodiment, the wheel end torque target value determination module is used to: Determine a compensation torque obtained by performing a compensation calculation on an initial value of the wheel end torque; The maximum negative torque allowed by the motor brake of the vehicle is obtained, and a relatively smaller value between the maximum negative torque and the compensation torque is determined as a wheel end torque target value.

[0081] In one embodiment, the feedback power determination module is used to: The product of the wheel-end torque target value and the motor speed is calculated, and the feedback power of the electric drive system is determined based on the product.

[0082] In one embodiment, the device further includes a maximum recovery power determination module, configured to: Obtaining an initial maximum recovery power of the battery system and a power consumption of a high-voltage component of the vehicle; The maximum recovery power of the battery system is determined according to the power consumption of the high-voltage component and the initial maximum recovery power of the battery system.

[0083] In one embodiment, the maximum recovery power determination module is used to: Get the vehicle's battery status information; According to the battery status information, the preset recovery power data is searched to obtain the initial maximum recovery power of the battery system; the recovery power data is used to characterize the corresponding relationship between the battery status information and the recovery power.

[0084] In one embodiment, the processing module is used to: Compare the maximum regenerative power of the battery system with the regenerative power of the electric drive system; The relatively smaller value between the maximum recovery power of the battery system and the feedback power of the electric drive system is determined as the target recovery power.

[0085] For the specific definition of the energy recovery device, please refer to the definition of the energy recovery method above, which will not be repeated here. Each module in the above energy recovery device can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computing device in the form of hardware, or can be stored in the memory of the computing device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0086] Based on the same inventive concept as the above embodiments, an embodiment of the present invention provides an electronic device, such as Figure 4 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 4 The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 4The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the above energy recovery method is implemented.

[0087] The electronic device may also include: at least one network interface 312. The various components in the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 313 is not used in the following examples. Figure 4 Various buses are labeled as bus system 313.

[0088] The memory 311 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0089] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device. Examples of these data include: any computer program used to operate on the electronic device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player, a browser, etc., for implementing various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0090] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer-readable storage medium, in which a computer program is stored. The computer-readable storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it may also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer-readable storage medium is executed by the processor, the energy recovery method applied to the above-mentioned electronic device is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0091] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0093] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An energy recovery method, characterized in that: include: When the vehicle is sliding or braking, obtaining the initial value of the wheel end torque and the motor speed of the vehicle; Performing compensation processing on the initial value of the wheel end torque based on the transmission parameter; Determine the wheel end torque target value according to the compensation result; Determining the feedback power of the electric drive system according to the wheel end torque target value and the motor speed; The feedback power of the electric drive system is processed according to the maximum recovery power of the battery system to determine the target recovery power.

2. The method according to claim 1, characterized in that When the transmission parameter is an efficiency value, the compensating process for the initial value of the wheel end torque based on the transmission parameter includes: According to the motor speed and the initial value of the wheel end torque, querying preset efficiency relationship data to determine a target efficiency value; the efficiency relationship data is used to characterize the relationship between the motor speed and the wheel end torque corresponding to the efficiency value; The initial value of the wheel end torque is compensated and calculated according to the target efficiency value.

3. The method according to claim 1 or 2, characterized in that: Determining the wheel end torque target value according to the compensation result includes: Determine a compensation torque obtained by performing compensation calculation on the initial value of the wheel end torque; A maximum negative torque allowed by motor braking of the vehicle is acquired, and a relatively smaller value between the maximum negative torque and the compensation torque is determined as the wheel end torque target value.

4. The method according to claim 1, characterized in that: The step of determining the feedback power of the electric drive system according to the wheel end torque target value and the motor speed includes: The product of the wheel end torque target value and the motor speed is calculated, and the feedback power of the electric drive system is determined according to the product.

5. The method according to claim 1, characterized in that Before processing the feedback power of the electric drive system according to the maximum recovery power of the battery system to determine the target recovery power, the method further includes: obtaining an initial maximum recovery power of the battery system and a power consumption of a high-voltage component of the vehicle; The maximum recovery power of the battery system is determined according to the power consumption of the high-voltage component and the initial maximum recovery power of the battery system.

6. The method according to claim 5, characterized in that The obtaining of the initial maximum recovery power of the battery system includes: Obtaining battery status information of the vehicle; According to the battery status information, preset recovery power data is searched to obtain the initial maximum recovery power of the battery system; the recovery power data is used to characterize the corresponding relationship between the battery status information and the recovery power.

7. The method according to claim 1, characterized in that The processing of the feedback power of the electric drive system according to the maximum recovery power of the battery system to determine the target recovery power includes: comparing the maximum recovery power of the battery system with the feedback power of the electric drive system; A relatively smaller value between the maximum recovery power of the battery system and the regenerative power of the electric drive system is determined as the target recovery power.

8. An energy recovery device, characterized in that: include: An acquisition module, used for acquiring an initial value of the wheel end torque and a motor speed of the vehicle when the vehicle is sliding or braking; A compensation module, used for compensating the initial value of the wheel end torque based on a transmission parameter; A wheel end torque target value determination module, used to determine the wheel end torque target value according to the compensation result; A feedback power determination module, used to determine the feedback power of the electric drive system according to the wheel end torque target value and the motor speed; The processing module is used to process the feedback power of the electric drive system according to the maximum recovery power of the battery system to determine the target recovery power.

9. An electronic device, characterized in that: include: A processor and a memory for storing executable instructions; wherein the processor is configured to execute the instructions to implement the energy recovery method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor, the energy recovery method according to any one of claims 1 to 7 is implemented.

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