Energy recovery method considering multi-component failure and energy feedback efficiency

Abstract

The invention discloses an energy recovery method considering multi-component failure and energy feedback efficiency. The energy recovery method comprises the following steps: acquiring whole vehicle operation data; in response to the received vehicle braking signal, controlling the vehicle braking mode to be a hydraulic braking mode; in the hydraulic braking mode, the hydraulic braking torque is matched with the total required braking torque of the vehicle, and the vehicle braking mode is switched to an energy recovery mode or an electro-hydraulic braking mode according to the vehicle speed, the battery state data and the braking state data; in the energy recovery mode and the electro-hydraulic braking mode, the motor braking torque and the sum of the motor braking torque and the hydraulic braking torque are made to be matched with the total required braking torque of the vehicle, and the vehicle braking modes are mutually switched according to the battery state data and the braking state data; and if the whole vehicle operation data indicates that the motor fault or the battery fault occurs, switching to a hydraulic braking mode. The energy recovery efficiency of the vehicle can be improved, and the safety in the braking process after the multiple electrical components fail can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles and engineering machinery vehicles, and in particular to an energy recovery method that takes into account multi-component failure and energy feedback efficiency. Background Art

[0002] At present, the energy recovery strategy for vehicles on the market is mainly that when the driver releases the accelerator pedal and coasts or brakes, the vehicle controller VCU dynamically sends braking torque to the motor controller according to different vehicle speeds, generating braking force while converting vehicle kinetic energy into electrical energy, and the motor turns into a generator to charge the high-voltage battery. For example, the invention patent application with publication number CN115320395A: Automobile Braking Energy Recovery Method and Device, etc.

[0003] However, the above energy recovery strategy does not fully consider the heat consumption and failure problems caused by the motor working at peak braking torque for a long time, especially the situation of multiple component failure. At this time, the energy fed back to the battery may not be greater than the energy output by the battery, resulting in low energy recovery efficiency. Moreover, how to perform safe braking when the motor or battery fails is also an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide an energy recovery method that takes into account the failure of multiple components and the efficiency of energy feedback, reduces the energy consumption of motor heating, improves the energy recovery efficiency of the vehicle, and improves the safety of the braking process after the failure of multiple electrical components. The technical solution adopted by the present invention is as follows.

[0005] In one aspect, the present invention provides an energy recovery method taking into account multi-component failure and energy feedback efficiency, comprising:

[0006] Acquiring vehicle operation data, wherein the vehicle operation data includes vehicle speed, brake status data, fault status data, and battery status data;

[0007] In response to receiving a vehicle braking signal, controlling the vehicle braking mode to a hydraulic braking mode;

[0008] In hydraulic braking mode, the hydraulic braking torque is matched to the total required braking torque of the vehicle, and the vehicle braking mode is switched to energy recovery mode or electro-hydraulic braking mode according to the vehicle speed, battery status data and braking status data;

[0009] In the energy recovery mode, the electric motor braking torque is matched with the total required braking torque of the vehicle, and the vehicle braking mode is switched to the electro-hydraulic braking mode according to the battery status data and the braking status data;

[0010] In the electro-hydraulic braking mode, the sum of the electric motor braking torque and the hydraulic braking torque is matched to the total required braking torque of the vehicle, and the vehicle braking mode is switched to the energy recovery mode according to the battery status data and the braking status data;

[0011] In energy recovery mode or electro-hydraulic braking mode, if the fault status data indicates that a motor fault or a battery fault has occurred, the vehicle braking mode is switched to hydraulic braking mode.

[0012] Optionally, the braking state data includes: the total required braking torque of the vehicle, which is calculated based on parameters such as the brake pedal opening and the vehicle slip rate; the current maximum braking torque of the motor, which is calculated by matching the motor external characteristic MAP diagram and the current motor speed;

[0013] The fault status data includes motor fault status data and battery fault status data;

[0014] The battery status data includes the battery state of charge SOC and the charge and discharge current.

[0015] The above vehicle speed can be calculated based on the inner and outer wheel speeds; the fault status data and battery status data can be directly obtained through the CAN bus.

[0016] Optionally, the method further includes: in response to the vehicle being powered on, the hydraulic braking torque is configured to match the braking torque required by the vehicle; the vehicle controller performs an initialization operation; the initialization operation includes:

[0017] Perform program self-check, CAN driver and IO module initialization;

[0018] If the initialization is completed and the program self-test is normal, the self-test success flag is set.

[0019] After the self-test success flag is in place, the vehicle can enter the driving state. The vehicle controller can receive the pedal brake signal or parking signal during driving to obtain the vehicle braking demand and enter the hydraulic braking mode first.

[0020] Optionally, in the hydraulic braking mode, making the hydraulic braking torque match the total required braking torque of the vehicle and switching the vehicle braking mode to the energy recovery mode or the electro-hydraulic braking mode according to the vehicle speed, the battery status data and the braking status data include:

[0021] Make the hydraulic braking torque equal to the total required braking torque of the vehicle;

[0022] Based on vehicle speed, battery status data and brake status data:

[0023] If satisfied: , the vehicle braking mode is switched to the energy recovery mode;

[0024] If satisfied: , then switch the vehicle braking mode to the electro-hydraulic braking mode;

[0025] in, Indicates vehicle speed. is the preset first vehicle speed threshold, is the battery charge state, is the preset first SOC threshold, represents the total required braking torque of the vehicle, It is the maximum braking torque at the current motor speed.

[0026] In the above technical solution, the first vehicle speed threshold should be set to a larger value, and the first SOC threshold should be set to a smaller value, indicating that the current vehicle is in a state of high vehicle speed and small battery capacity, and switching to the energy recovery mode can obtain higher energy recovery efficiency.

[0027] Optionally, the first vehicle speed threshold is set to 15-25 km / h, and the first SOC threshold is set to 80%-85%.

[0028] Optionally, the method further includes: in the energy recovery mode or the electro-hydraulic braking mode, according to the battery status data and the vehicle speed, if the Or satisfy , then switch the vehicle braking mode to the hydraulic braking mode;

[0029] in, Indicates the set second SOC threshold, Indicates the set second vehicle speed threshold.

[0030] In the above technical solution, the second SOC threshold should be set to a larger value, and the second vehicle speed threshold should be set to a smaller value. If the corresponding conditions are met, it means that the current vehicle speed is already small, or the remaining battery capacity is small. At this time, if energy is still recovered through motor braking, the energy fed back to the battery may be extremely smaller than the energy output by the battery, the energy recovery efficiency is low, and it is easy to cause battery failure.

[0031] Optionally, the second vehicle speed threshold is set to 5-10 km / h, and the second SOC threshold is set to 90%-95%.

[0032] Optionally, in the energy recovery mode, the electric motor braking torque is matched with the total required braking torque of the vehicle, and the vehicle braking mode is switched to the electro-hydraulic braking mode according to the battery status data and the braking status data, including:

[0033] Make the motor braking torque equal to the total required braking torque of the vehicle;

[0034] Determine whether the electro-hydraulic brake transfer conditions are met based on the battery status data, and determine whether the following conditions are met based on the brake status data: ; If one of the conditions is met, the vehicle braking mode is switched to the electro-hydraulic braking mode;

[0035] The electro-hydraulic brake transfer condition is that the battery feedback current is greater than 0 and the duration exceeds a set first time threshold.

[0036] In the above scheme, if the electro-hydraulic braking transfer condition is triggered, it means that the current motor feedback energy is less than the heat dissipation energy required by the motor. At this time, reducing the motor braking torque can effectively avoid the heat energy consumption and fault problems caused by the motor working for a long time under the peak braking torque.

[0037] Optionally, in the electro-hydraulic braking mode, the sum of the electric motor braking torque and the hydraulic braking torque is matched with the total required braking torque of the vehicle, and the vehicle braking mode is switched to the energy recovery mode according to the battery status data and the braking status data, including:

[0038] make , , , They represent the motor braking torque, hydraulic braking torque and total vehicle required braking torque at time t respectively;

[0039] Determine whether the electro-hydraulic brake transfer conditions are met based on the battery status data, and determine whether the following conditions are met based on the brake status data: ;

[0040] If the electro-hydraulic brake transfer conditions are not met, and , the vehicle braking mode is switched to the energy recovery mode. Otherwise, the electro-hydraulic braking mode is maintained.

[0041] Optionally, in the electro-hydraulic braking mode, making the sum of the electric motor braking torque and the hydraulic braking torque match the total required braking torque of the vehicle includes:

[0042] Continue to obtain the battery feedback current and its duration to determine whether the electro-hydraulic brake transfer conditions are met and if not, , if it meets the requirements, the electric machine torque and hydraulic braking torque are redistributed, the formula is:

[0043] , where Adjust the step size for the set torque;

[0044] If the battery feedback current is less than 0 and the duration is greater than the set second time threshold, the current braking torque distribution scheme is maintained. The second time threshold can be set to about 10s to reliably identify the working condition where the feedback current is continuously greater than 0 or less than 0.

[0045] Furthermore, in the energy recovery mode, if the trigger condition for transferring to the electro-hydraulic braking mode is that the electro-hydraulic braking transfer condition is satisfied, then when entering the electro-hydraulic braking mode, the set torque adjustment step is reduced based on the maximum braking torque at the current motor speed as the reference value, and the adjusted motor braking torque and hydraulic braking torque meet There is no need to wait for the feedback current to be greater than 0 and to be maintained for a period of time, which can better protect the battery and improve the overall energy recovery efficiency.

[0046] In a second aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the energy recovery method introduced in the first aspect is implemented.

[0047] Beneficial Effects

[0048] The present invention takes into account the energy recovery efficiency and braking safety when multiple components fail, and integrates information such as vehicle speed, battery status, braking demand, and motor status to control the vehicle to switch between hydraulic braking mode, energy recovery mode, and electro-hydraulic braking mode, thereby avoiding the decrease in energy recovery efficiency caused by the motor heating energy consumption being greater than the feedback energy, which is conducive to maximizing the vehicle's feedback energy. At the same time, the present invention forcibly switches the vehicle's braking mode to be taken over by the hydraulic braking system according to the vehicle speed, battery status, and multiple component failure conditions during the energy recovery stage and the electro-hydraulic braking stage, thereby improving the safety of the braking process after multiple electrical components of the vehicle fail. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Shown is a schematic diagram of the principle of an embodiment of the method of the present invention;

[0050] Figure 2 The figure is a schematic diagram of the mode transfer principle when the vehicle braking mode is in the energy recovery mode in one embodiment of the method of the present invention;

[0051] Figure 3 The figure shows a schematic diagram of the torque distribution principle when the vehicle braking mode is in the electro-hydraulic braking mode in one embodiment of the method of the present invention. DETAILED DESCRIPTION

[0052] The invention is further described below with reference to the accompanying drawings and specific embodiments.

[0053] Example 1

[0054] This embodiment introduces an energy recovery method that takes into account multi-component failure and energy feedback efficiency. Figures 1 to 3 , which includes:

[0055] Acquiring vehicle operation data, wherein the vehicle operation data includes vehicle speed, brake status data, fault status data, and battery status data;

[0056] In response to receiving a vehicle braking signal, controlling the vehicle braking mode to a hydraulic braking mode;

[0057] In hydraulic braking mode, the hydraulic braking torque is matched to the total required braking torque of the vehicle, and the vehicle braking mode is switched to energy recovery mode or electro-hydraulic braking mode according to the vehicle speed, battery status data and braking status data;

[0058] In the energy recovery mode, the electric motor braking torque is matched with the total required braking torque of the vehicle, and the vehicle braking mode is switched to the electro-hydraulic braking mode according to the battery status data and the braking status data;

[0059] In the electro-hydraulic braking mode, the sum of the electric motor braking torque and the hydraulic braking torque is matched to the total required braking torque of the vehicle, and the vehicle braking mode is switched to the energy recovery mode according to the battery status data and the braking status data;

[0060] In energy recovery mode or electro-hydraulic braking mode, if the fault status data indicates that a motor fault or a battery fault has occurred, the vehicle braking mode is switched to hydraulic braking mode.

[0061] On the one hand, this embodiment controls the vehicle to switch between hydraulic braking mode, energy recovery mode and electro-hydraulic braking mode by comprehensively understanding information such as vehicle speed, battery status, braking demand, and motor status, thereby avoiding a decrease in energy recovery efficiency caused by the motor's heat consumption being greater than the feedback energy. On the other hand, according to the vehicle speed, battery status and multiple component failure conditions, the vehicle's braking mode is forcibly switched to be taken over by hydraulic braking, which can improve the safety of the braking process after failure of multiple electrical components of the vehicle.

[0062] Example 2

[0063] Based on Example 1, this example specifically introduces an energy recovery method that takes into account multi-component failure and energy feedback efficiency, and its implementation includes the following contents.

[0064] 1. Initialization

[0065] After the vehicle is powered on, the vehicle controller VCU starts the initialization program, including program self-check, CAN driver and IO module initialization, etc. During this process, the default hydraulic braking torque matches the required braking torque of the vehicle. After the initialization is completed, the VCU sets the self-check success flag. Specifically:

[0066] In response to the vehicle being powered on, the hydraulic brake is configured to match the required braking torque of the vehicle; the vehicle controller performs the following initialization operations:

[0067] Perform program self-check, CAN drive and IO module initialization. VCU obtains status signals of system components such as motors and batteries through the CAN bus. After detecting that each system component is fault-free, initialization is completed and the self-check success flag is set. At this time, the vehicle can enter the driving state. The vehicle controller can receive pedal brake signals or parking signals during driving to obtain vehicle braking requirements and first enter the hydraulic braking mode.

[0068] During the entire vehicle operation process, the VCU needs to obtain or calculate the vehicle operation status parameters in real time, including the total required braking torque of the vehicle, the maximum braking torque at the current motor speed, the motor fault status, the battery fault status, the high-voltage battery SOC and the charge and discharge current, the vehicle speed, etc. The calculation of the total required braking torque of the vehicle is related to the parameters such as the brake pedal opening and the vehicle slip rate. The maximum braking torque at the current motor speed is calculated by matching the motor external characteristic MAP diagram with the current motor speed. The battery and motor fault detection, the high-voltage battery SOC and the charge and discharge current are obtained through the CAN bus, and the vehicle speed is estimated by the internal and external wheel speeds.

[0069] In the following description of this embodiment, the braking status data includes: the total required braking torque of the vehicle, the current maximum braking torque of the motor; the fault status data includes motor fault status data and battery fault status data; the battery status data includes the battery state of charge SOC and the charging and discharging current.

[0070] 2. Hydraulic Braking

[0071] In hydraulic braking mode, the vehicle is braked through the hydraulic system, and the vehicle does not recover energy, that is, the electric motor braking torque is set to 0, and the hydraulic braking torque is equal to the total required braking torque of the vehicle. And according to the vehicle speed, battery status data and braking status data, the vehicle braking mode is switched to energy recovery mode or electro-hydraulic braking mode. Figure 1 As shown, specifically:

[0072] Make the hydraulic braking torque equal to the total required braking torque of the vehicle;

[0073] Based on vehicle speed, battery status data and brake status data:

[0074] If satisfied: , the vehicle braking mode is switched to the energy recovery mode;

[0075] If satisfied: , then switch the vehicle braking mode to the electro-hydraulic braking mode;

[0076] in, Indicates vehicle speed. is the preset first vehicle speed threshold, is the battery charge state, is the preset first SOC threshold, represents the total required braking torque of the vehicle, It is the maximum braking torque at the current motor speed.

[0077] The above-mentioned first vehicle speed threshold should be set to a larger value, and the first SOC threshold should be set to a smaller value, indicating that the current vehicle is in a state of higher vehicle speed and smaller battery capacity, and switching to the energy recovery mode can obtain higher energy recovery efficiency.

[0078] In this embodiment, the first vehicle speed threshold is set in a range of 15-25 km / h, and the first SOC threshold is set in a range of 80%-85%, such as 20 km / h and 80% respectively.

[0079] 3. Energy recovery

[0080] Combination Figure 1 and Figure 2 As shown in the figure, in the energy recovery mode, when the total required braking torque of the vehicle does not exceed the maximum braking torque limit at the current speed of the motor, the motor is responsible for braking and energy recovery of the entire vehicle, and the hydraulic braking torque is set to 0. At the same time, the VCU continuously monitors the energy recovery status. If the battery feedback current is greater than 0 and the duration is greater than a certain threshold, the VCU believes that the current motor feedback energy is less than the heat dissipation energy required by the motor, and the electro-hydraulic braking transfer condition will be triggered.

[0081] If the total required braking torque of the vehicle Greater than the total braking torque of the motor's current speed , or the electro-hydraulic brake transfer condition is triggered, the VCU controls the vehicle braking mode to transfer to the electro-hydraulic brake mode.

[0082] At the same time, in energy recovery mode, if the fault status data indicates that a motor fault or battery fault has occurred, or according to the battery status data and vehicle speed, if the Or satisfy , then switch the vehicle braking mode to the hydraulic braking mode, where Indicates the set second SOC threshold, Indicates the set second vehicle speed threshold.

[0083] The above-mentioned second SOC threshold should be set to a larger value, and the second vehicle speed threshold should be set to a smaller value. If the corresponding conditions are met, it means that the current vehicle speed is already small, or the remaining battery capacity is small. At this time, if energy is still recovered through motor braking, the energy fed back to the battery may be extremely smaller than the energy output by the battery. The energy recovery efficiency is low and it is easy to cause battery failure.

[0084] In this embodiment, the range of the second vehicle speed threshold is set to 5-10 km / h, such as 1010 km / h; the range of the second SOC threshold is set to 90%-95%, such as 90%.

[0085] 4. Electro-hydraulic brake

[0086] In the electro-hydraulic braking mode, the motor performs maximum torque braking by default, and the hydraulic system performs auxiliary braking. , , , They represent the motor braking torque, hydraulic braking torque and total vehicle braking torque required at time t respectively. But at the same time, the VCU will monitor the high-voltage battery charging and discharging current and its duration, electro-hydraulic braking transfer conditions, as well as the total vehicle braking torque required and the maximum braking torque at the current motor speed in real time. If the battery feedback current is greater than 0 and the duration is greater than a certain threshold, the VCU now believes that the current motor feedback energy is less than the heat dissipation energy brought by motor braking, then the VCU gradually reduces the motor braking torque and increases the hydraulic braking torque, and distributes the motor braking and hydraulic braking torque in real time to optimize the energy recovery efficiency of the whole vehicle.

[0087] Specifically, in the electro-hydraulic braking mode, real-time torque distribution is performed so that the sum of the electric braking torque and the hydraulic braking torque matches the total required braking torque of the vehicle, including:

[0088] like Figure 3 As shown, if the reason for the transfer to the electro-hydraulic braking mode is other than the electro-hydraulic braking transfer condition, the battery feedback current and its duration are obtained to determine whether the electro-hydraulic braking transfer condition is met. If so, the electric motor braking torque and the hydraulic braking torque are redistributed. The formula is:

[0089] , where Adjust the step size for the set torque, such as Figure 3 The setting shown in is 10 N·m;

[0090] If the battery feedback current is less than 0 and the duration is greater than the set second time threshold, the current braking torque distribution scheme is maintained. The second time threshold can be set to about 10s to reliably identify the working condition where the feedback current is continuously greater than 0 or less than 0.

[0091] If the reason for the transfer to the electro-hydraulic braking mode is that the electro-hydraulic braking transfer condition is met, then when entering the electro-hydraulic braking mode, the set torque adjustment step is reduced based on the maximum braking torque at the current motor speed as the reference value, and the adjusted motor braking torque and hydraulic braking torque meet There is no need to wait for the feedback current to be greater than 0 and to be maintained for a period of time, which can better protect the battery and improve the overall energy recovery efficiency.

[0092] When the total required braking torque of the vehicle is less than the maximum braking torque at the current speed of the motor and the electro-hydraulic braking transfer conditions are not met, the electro-hydraulic braking mode is converted to the energy recovery mode.

[0093] At the same time, similar to the energy recovery mode, in the electro-hydraulic braking mode, if the fault status data indicates that a motor fault or a battery fault has occurred, or according to the battery status data and the vehicle speed, if the Or satisfy , the vehicle braking mode is switched to hydraulic braking mode.

[0094] Example 3

[0095] This embodiment introduces a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the energy recovery method introduced in Embodiment 1 or 2 is implemented.

[0096] To summarize the above embodiments, the present invention can not only avoid the decrease in energy recovery efficiency caused by the motor's heat energy consumption being greater than the feedback energy, thereby improving the vehicle's feedback energy, but also can force the vehicle's braking mode to switch to the hydraulic braking system when multiple components fail, thereby improving the safety of the braking process after multiple electrical components of the vehicle fail.

[0097] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An energy recovery method considering multi-component failure and energy feedback efficiency, characterized in that: include: Acquiring vehicle operation data, wherein the vehicle operation data includes vehicle speed, brake status data, fault status data, and battery status data; In response to receiving a vehicle braking signal, controlling the vehicle braking mode to a hydraulic braking mode; In hydraulic braking mode, the hydraulic braking torque is matched to the total required braking torque of the vehicle, and the vehicle braking mode is switched to energy recovery mode or electro-hydraulic braking mode according to the vehicle speed, battery status data and braking status data; In the energy recovery mode, the electric motor braking torque is matched with the total required braking torque of the vehicle, and the vehicle braking mode is switched to the electro-hydraulic braking mode according to the battery status data and the braking status data; In the electro-hydraulic braking mode, the sum of the electric motor braking torque and the hydraulic braking torque is matched to the total required braking torque of the vehicle, and the vehicle braking mode is switched to the energy recovery mode according to the battery status data and the braking status data; In energy recovery mode or electro-hydraulic braking mode, if the fault status data indicates that a motor fault or a battery fault has occurred, the vehicle braking mode is switched to hydraulic braking mode.

2. The method according to claim 1, characterized in that: The braking state data includes: the total required braking torque of the vehicle and the current maximum braking torque of the motor; The fault status data includes motor fault status data and battery fault status data; The battery status data includes the battery state of charge SOC and the charge and discharge current.

3. The method according to claim 1, characterized in that include: In response to the vehicle being powered on, the hydraulic braking torque is configured to match the required braking torque of the vehicle; The vehicle controller performs initialization operations; The initialization operation includes: Perform program self-check, CAN driver and IO module initialization; If the initialization is completed and the program self-test is normal, the self-test success flag is set.

4. The method according to claim 1, characterized in that: In the hydraulic braking mode, the method of matching the hydraulic braking torque with the total required braking torque of the vehicle and switching the vehicle braking mode to the energy recovery mode or the electro-hydraulic braking mode according to the vehicle speed, the battery status data and the braking status data includes: Make the hydraulic braking torque equal to the total required braking torque of the vehicle; Based on vehicle speed, battery status data and brake status data: If satisfied: , the vehicle braking mode is switched to the energy recovery mode; If satisfied: , then switch the vehicle braking mode to the electro-hydraulic braking mode; in, Indicates vehicle speed. is the preset first vehicle speed threshold, is the battery charge state, is the preset first SOC threshold, represents the total required braking torque of the vehicle, It is the maximum braking torque at the current motor speed.

5. The method according to claim 1, characterized in that include: In energy recovery mode or electro-hydraulic braking mode, according to the battery status data and vehicle speed, if the Or satisfy , then switch the vehicle braking mode to the hydraulic braking mode; in, Indicates the set second SOC threshold, Indicates the set second vehicle speed threshold.

6. The method according to claim 1, characterized in that: In the energy recovery mode, the electric motor braking torque is matched with the total required braking torque of the vehicle, and the vehicle braking mode is switched to the electro-hydraulic braking mode according to the battery status data and the braking status data, including: Make the motor braking torque equal to the total required braking torque of the vehicle; Determine whether the electro-hydraulic brake transfer conditions are met based on the battery status data, and determine whether the following conditions are met based on the brake status data: ; If one of the conditions is met, the vehicle braking mode is switched to the electro-hydraulic braking mode; The electro-hydraulic brake transfer condition is that the battery feedback current is greater than 0 and the duration exceeds a set first time threshold.

7. The method according to claim 1, characterized in that In the electro-hydraulic braking mode, the sum of the electric motor braking torque and the hydraulic braking torque is matched to the total required braking torque of the vehicle, and the vehicle braking mode is switched to the energy recovery mode according to the battery status data and the braking status data, including: make , , , They represent the motor braking torque, hydraulic braking torque and total vehicle required braking torque at time t respectively; Determine whether the electro-hydraulic brake transfer conditions are met based on the battery status data, and determine whether the following conditions are met based on the brake status data: ; If the electro-hydraulic brake transfer conditions are not met, and , the vehicle braking mode is switched to the energy recovery mode. Otherwise, the electro-hydraulic braking mode is maintained.

8. The method according to claim 7, characterized in that: The method of making the sum of the electric motor braking torque and the hydraulic braking torque match the total required braking torque of the vehicle includes: Continue to obtain the battery feedback current and its duration to determine whether the electro-hydraulic brake transfer conditions are met and if not, , if it meets the requirements, the electric machine torque and hydraulic braking torque are redistributed, the formula is: , where Adjust the step size for the set torque; If the battery feedback current is less than 0 and the duration is greater than the set second time threshold, and the , the current braking torque distribution scheme is maintained.

9. The method according to claim 8, characterized in that: In the energy recovery mode, if the trigger condition for transferring to the electro-hydraulic braking mode is that the electro-hydraulic braking transfer condition is met, when entering the electro-hydraulic braking mode, the set torque adjustment step is reduced based on the maximum braking torque at the current motor speed as the reference value, and the adjusted motor braking torque and hydraulic braking torque meet .

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the energy recovery method described in any one of claims 1 to 9 is implemented.

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