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

Abstract

This invention discloses an energy recovery method considering multiple component failures and energy feedback efficiency. The method includes: acquiring vehicle operating data; responding to a received vehicle braking signal, controlling the vehicle braking mode to hydraulic braking mode; in hydraulic braking mode, matching the hydraulic braking torque to the vehicle's total required braking torque, and switching the vehicle braking mode to energy recovery mode or electro-hydraulic braking mode based on vehicle speed, battery status data, and braking status data; in both energy recovery mode and electro-hydraulic braking mode, matching the electric motor torque and the sum of the electric motor torque and hydraulic braking torque to the vehicle's total required braking torque, and switching the vehicle braking mode between them based on battery status data and braking status data; if the vehicle operating data indicates a motor failure or battery failure, switching to hydraulic braking mode. This invention can improve the vehicle's energy recovery efficiency and safety during braking after multiple electrical component failures.

Description

Technical Field

[0001] This invention relates to the field of vehicle and engineering machinery technology, and in particular to an energy recovery method that takes into account the failure of multiple components and energy feedback efficiency. Background Technology

[0002] Currently, energy recovery strategies for vehicles on the market mainly involve the vehicle control unit (VCU) dynamically issuing braking torque to the motor controller based on different vehicle speeds when the driver releases the accelerator pedal for coasting or braking. This generates braking force while simultaneously converting the vehicle's kinetic energy into electrical energy, which is then used by the electric motor to charge the high-voltage battery. Examples include the invention patent application CN115320395A: "Automotive Braking Energy Recovery Method and Device," etc.

[0003] However, the aforementioned energy recovery strategies do not fully consider the heat generation and potential malfunctions that occur when the motor operates at peak braking torque for extended periods, especially in cases of multi-component failure. In such situations, the energy fed back to the battery may not exceed the battery's output energy, resulting in low energy recovery efficiency. Furthermore, how to achieve safe braking in the event of motor or battery failure is also a problem that urgently needs to be addressed. Summary of the Invention

[0004] The purpose of this invention is to provide an energy recovery method that considers the failure of multiple components and energy feedback efficiency, reduces motor heat generation and energy consumption, improves vehicle energy recovery efficiency, and enhances safety during braking after the failure of multiple electrical components. The technical solution adopted by this invention is as follows.

[0005] On one hand, the present invention provides an energy recovery method considering multi-component failure and energy feedback efficiency, comprising:

[0006] Acquire vehicle operation data, including vehicle speed, braking status data, fault status data, and battery status data;

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

[0008] In hydraulic braking mode, the hydraulic braking torque is matched to the total braking torque required by the vehicle, and the vehicle braking mode is switched to energy recovery mode or electro-hydraulic braking mode based on vehicle speed, battery status data and braking status data.

[0009] In energy recovery mode, the electric motor's braking torque is matched to the vehicle's total required braking torque, and the vehicle's braking mode is switched to electro-hydraulic braking mode based on battery status data and braking status data.

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

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

[0012] Optionally, the braking status data includes: the total required braking torque of the vehicle, calculated based on parameters such as brake pedal opening and vehicle slip rate; and the current maximum braking torque of the motor, calculated by matching the motor's external characteristic MAP diagram and the motor's current 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 charge / discharge current.

[0015] The vehicle speed mentioned above can be calculated based on the rotational speeds of the inner and outer wheels; fault status data and battery status data can be directly obtained via the CAN bus.

[0016] Optionally, the method further includes: in response to the vehicle being powered on, configuring the hydraulic braking torque to match the vehicle's required braking torque; the vehicle controller performing an initialization operation; the initialization operation including:

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

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

[0019] After the self-test success flag is set, the vehicle can enter the driving state. The vehicle controller can receive pedal brake signals or parking signals during driving to obtain the vehicle's braking needs and first enter the hydraulic braking mode.

[0020] Optionally, in hydraulic braking mode, the step of matching the hydraulic braking torque to the total braking torque required by the vehicle, and switching the vehicle braking mode to energy recovery mode or electro-hydraulic braking mode based on vehicle speed, battery status data, and braking status data, includes:

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

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

[0023] If the following conditions are met: If so, the vehicle braking mode will be switched to energy recovery mode;

[0024] If the following conditions are met: If so, the vehicle braking mode will be switched to electro-hydraulic braking mode;

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

[0026] In the above technical solutions, the first vehicle speed threshold should be set to a large value, and the first SOC threshold should be set to a small value. This means that when the vehicle is in a state of high speed and low battery capacity, switching to energy recovery mode can achieve 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 also includes: in energy recovery mode or electro-hydraulic braking mode, based on battery state data and vehicle speed, if the following conditions are met... Or satisfy If so, the vehicle braking mode will be switched to hydraulic braking mode;

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

[0030] In the above technical solutions, the second SOC threshold should be set to a large value, and the second vehicle speed threshold should be set to a small value. If the corresponding conditions are met, it means that the current vehicle speed is already low, or the remaining battery capacity is low. If energy is still recovered through motor braking at this time, the energy fed back to the battery may be much less than the energy output by the battery, resulting in low energy recovery efficiency and easy 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 energy recovery mode, the electric motor's braking torque is matched to the vehicle's total required braking torque, and the vehicle's braking mode is switched to electro-hydraulic braking mode based on battery status data and braking status data, including:

[0033] Make the electric motor's braking torque equal to the vehicle's total braking torque requirement;

[0034] Determine whether the electro-hydraulic braking transfer conditions are met based on battery status data, and determine whether the conditions are met based on braking status data: If any one of these conditions is met, the vehicle braking mode will be switched to electro-hydraulic braking mode.

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

[0036] In the above scheme, the triggering of the electro-hydraulic braking transfer condition indicates that the current motor feedback energy is less than the motor's required heat dissipation energy. At this time, reducing the motor's driving torque can effectively avoid the heat consumption and failure problems caused by the motor working at peak braking torque for a long time.

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

[0038] make , , , These represent the electric motor braking torque, hydraulic braking torque, and total vehicle braking torque at time t, respectively.

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

[0040] If the electro-hydraulic braking transfer condition is not met, and the condition is met... If the brakes fail, the vehicle braking mode will switch to energy recovery mode. Otherwise, the electro-hydraulic braking mode will remain in operation.

[0041] Optionally, in electro-hydraulic braking mode, matching the sum of the electric braking torque and the hydraulic braking torque to the total braking torque required by the vehicle includes:

[0042] Continue acquiring the battery feedback current and its duration to determine whether the electro-hydraulic braking transfer conditions are met and if not. If the conditions are met, the electric motor torque and hydraulic braking torque are redistributed, using the following formula:

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

[0044] If the battery feedback current is less than 0 and the duration exceeds a set second time threshold, the current braking torque distribution scheme is maintained. The second time threshold can be set to approximately 10 seconds to reliably identify operating conditions where the feedback current is continuously greater than or less than 0.

[0045] Furthermore, in energy recovery mode, if the trigger condition for transitioning to electro-hydraulic braking mode meets the electro-hydraulic braking transition condition, then while entering electro-hydraulic braking mode, the set torque adjustment step size is reduced based on the maximum braking torque at the current motor speed, and the adjusted motor braking torque and hydraulic braking torque meet the requirements. Without needing to wait for the feedback current to be >0 and maintained for a period of time, the battery can be better protected and the overall energy recovery efficiency can be improved.

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

[0047] Beneficial effects

[0048] This invention considers energy recovery efficiency and braking safety in the event of multiple component failures. By integrating information such as vehicle speed, battery status, braking demand, and motor status, it controls the vehicle to switch between hydraulic braking mode, energy recovery mode, and electro-hydraulic braking mode. This avoids a decrease in energy recovery efficiency due to motor heat generation exceeding the energy regenerative capacity, thus maximizing the vehicle's regenerative energy. Furthermore, by forcibly switching the vehicle's braking mode to hydraulic braking system during the energy recovery and electro-hydraulic braking phases based on vehicle speed, battery status, and the failure status of multiple components, this invention improves the safety of the braking process after the failure of multiple electrical components. Attached Figure Description

[0049] Figure 1 The diagram shown is a schematic representation of an embodiment of the method of the present invention.

[0050] Figure 2 The diagram shown is a schematic representation of the mode transition principle in one embodiment of the method of the present invention, where the vehicle braking mode is in energy recovery mode.

[0051] Figure 3 The diagram shown illustrates the torque distribution principle in one embodiment of the method of the present invention, where the vehicle braking mode is in electro-hydraulic braking mode. Detailed Implementation

[0052] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details.

[0053] Example 1

[0054] This embodiment describes an energy recovery method that considers multi-component failure and energy feedback efficiency, referencing... Figures 1 to 3 It includes:

[0055] Acquire vehicle operation data, including vehicle speed, braking status data, fault status data, and battery status data;

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

[0057] In hydraulic braking mode, the hydraulic braking torque is matched to the total braking torque required by the vehicle, and the vehicle braking mode is switched to energy recovery mode or electro-hydraulic braking mode based on vehicle speed, battery status data and braking status data.

[0058] In energy recovery mode, the electric motor's braking torque is matched to the vehicle's total required braking torque, and the vehicle's braking mode is switched to electro-hydraulic braking mode based on battery status data and braking status data.

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

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

[0061] This embodiment, on the one hand, controls the vehicle to switch between hydraulic braking mode, energy recovery mode and electro-hydraulic braking mode by comprehensively considering information such as vehicle speed, battery status, braking demand and motor status, so as to avoid the decrease in energy recovery efficiency caused by the motor's heat generation energy consumption exceeding the feedback energy. On the other hand, based on vehicle speed, battery status and multiple component failures, it forces the vehicle braking mode to be taken over by hydraulic braking, which can improve the safety of the braking process after the 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 considers the failure of multiple components and energy feedback efficiency, the implementation of which includes the following:

[0064] I. Initialization

[0065] After the vehicle is powered on, the Vehicle Control Unit (VCU) initiates the initialization program, including program self-test, CAN driver and I / O module initialization, etc. During this process, the hydraulic braking torque is matched to the vehicle's required braking torque by default. After initialization is complete, the VCU sets the self-test success flag. Specifically:

[0066] In response to the vehicle's power-on, the hydraulic brakes are configured to match the vehicle's required braking torque; the vehicle controller performs the following initialization operations:

[0067] The program performs self-test, CAN driver and IO module initialization. The VCU obtains the status signals of system components such as motor and battery through the CAN bus. After detecting that there are no faults in each system component, the initialization is completed and the self-test success flag is set. At this time, the vehicle can enter the driving state. The vehicle controller can receive pedal brake signal or parking signal during driving to obtain the vehicle braking demand and first enter the hydraulic braking mode.

[0068] Throughout vehicle operation, the VCU needs to acquire or calculate vehicle operating status parameters in real time, including total required braking torque, maximum braking torque at the current motor speed, motor fault status, battery fault status, high-voltage battery SOC and charging / discharging current, and vehicle speed. The calculation of total required braking torque is related to parameters such as brake pedal opening and vehicle slip ratio. The maximum braking torque at the current motor speed is calculated by matching the motor's external characteristic MAP with the current motor speed. Battery and motor fault detection, high-voltage battery SOC, and charging / discharging current are acquired via the CAN bus, and vehicle speed is estimated using the rotational speeds of the inner and outer wheels.

[0069] In the following description of this embodiment, the braking status 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 battery state of charge (SOC) and charging / discharging current.

[0070] II. Hydraulic Braking

[0071] In hydraulic braking mode, the vehicle is braked via the hydraulic system, and energy recovery is not performed. This means the electric motor's braking torque is set to zero, and the hydraulic braking torque equals the vehicle's total required braking torque. Based on vehicle speed, battery status data, and braking status data, the vehicle's braking mode is switched between energy recovery mode and electro-hydraulic braking mode. (Reference) Figure 1 As shown, specifically:

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

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

[0074] If the following conditions are met: If so, the vehicle braking mode will be switched to energy recovery mode;

[0075] If the following conditions are met: If so, the vehicle braking mode will be switched to electro-hydraulic braking mode;

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

[0077] The first vehicle speed threshold should be set to a large value, and the first SOC threshold should be set to a small value. This means that when the vehicle is at a high speed and the battery capacity is small, switching to the energy recovery mode can achieve higher energy recovery efficiency.

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

[0079] III. Energy Recovery

[0080] Combination Figure 1 and Figure 2 As shown, in energy recovery mode, when the total braking torque required by the vehicle does not exceed the maximum braking torque limit at the current motor speed, the motor is responsible for vehicle braking and energy recovery, 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 considers that the current motor feedback energy is less than the motor's required heat dissipation energy and will trigger the electro-hydraulic braking transfer condition.

[0081] If the total braking torque required by the vehicle The total braking torque is greater than the current motor speed. If the electro-hydraulic braking transfer condition is triggered, the VCU controls the vehicle's braking mode to switch to the electro-hydraulic braking mode.

[0082] Meanwhile, in energy recovery mode, if the fault status data indicates a motor fault or battery fault, or based on battery status data and vehicle speed, if the following conditions are met... Or satisfy Then, the vehicle braking mode will switch to hydraulic braking mode, where, This indicates the set second SOC threshold. This indicates the set second vehicle speed threshold.

[0083] The second SOC threshold should be set to a large value, and the second vehicle speed threshold should be set to a small value. If the corresponding conditions are met, it means that the current vehicle speed is already low, or the remaining battery capacity is low. If energy is still recovered through motor braking at this time, the energy fed back to the battery may be much less than the energy output by the battery, resulting in low energy recovery efficiency and easy battery failure.

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

[0085] IV. Electro-hydraulic Braking

[0086] In electro-hydraulic braking mode, the motor provides maximum torque braking by default, while hydraulic pressure provides auxiliary braking. , , , These represent the motor braking torque, hydraulic braking torque, and total vehicle braking torque at time t, respectively. Simultaneously, the VCU monitors the high-voltage battery charging and discharging current and its duration, electro-hydraulic braking transfer conditions, total vehicle braking torque, and the maximum braking torque at the current motor speed in real time. If the battery feedback current is greater than 0 and its duration exceeds a certain threshold, the VCU considers the current motor feedback energy to be less than the heat dissipation energy from motor braking. Therefore, the VCU gradually reduces the motor braking torque and increases the hydraulic braking torque, distributing the motor braking and hydraulic braking torque in real time to optimize the overall vehicle energy recovery efficiency.

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

[0088] like Figure 3 As shown, if the reason for switching to electro-hydraulic braking mode is a situation other than meeting the electro-hydraulic braking switching conditions, then the battery feedback current and its duration are obtained to determine whether the electro-hydraulic braking switching conditions are met. If they are met, the electric motor torque and hydraulic braking torque are redistributed, using the following formula:

[0089] In the formula, Adjust the step size for the set torque, such as Figure 3 The value shown is set to 10 N·m;

[0090] If the battery feedback current is less than 0 and the duration exceeds a set second time threshold, the current braking torque distribution scheme is maintained. The second time threshold can be set to approximately 10 seconds to reliably identify operating conditions where the feedback current is continuously greater than or less than 0.

[0091] If the reason for transitioning to electro-hydraulic braking mode is to meet the electro-hydraulic braking transition conditions, then while entering electro-hydraulic braking mode, the set torque adjustment step size is reduced based on the maximum braking torque at the current motor speed, and the adjusted motor braking torque and hydraulic braking torque meet the requirements. Without needing to wait for the feedback current to be >0 and maintained for a period of time, the battery can be better protected and the overall energy recovery efficiency can be improved.

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

[0093] Similarly, in electro-hydraulic braking mode, if the fault status data indicates a motor or battery fault, or based on battery status data and vehicle speed, if the following conditions are met... Or satisfy If so, the vehicle braking mode will be switched to hydraulic braking mode.

[0094] Example 3

[0095] This embodiment describes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the energy recovery method described in Embodiment 1 or 2.

[0096] In summary, the present invention not only avoids the decrease in energy recovery efficiency caused by the motor's heat generation energy consumption exceeding the regenerative energy, thus improving the vehicle's regenerative energy, but also enables a forced switch to the vehicle's braking mode, with the hydraulic braking system taking over in the event of multiple component failures, thereby improving the safety of the braking process after the failure of multiple electrical components of the vehicle.

[0097] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An energy recovery method considering multi-component failure and energy feedback efficiency, characterized in that, include: Acquire vehicle operation data, including vehicle speed, braking status data, fault status data, and battery status data; In response to receiving a vehicle braking signal, the vehicle braking mode is controlled to hydraulic braking mode; In hydraulic braking mode, the hydraulic braking torque is matched to the total braking torque required by the vehicle, and the vehicle braking mode is switched to energy recovery mode or electro-hydraulic braking mode based on vehicle speed, battery status data and braking status data. In energy recovery mode, the electric motor's driving torque is matched to the vehicle's total required braking torque. Based on battery status data and braking status data, the vehicle's braking mode is switched to electro-hydraulic braking mode. This includes: ensuring the electric motor's driving torque equals the vehicle's total required braking torque; determining whether the electro-hydraulic braking transfer conditions are met based on battery status data; and determining whether the conditions are met based on braking status data. If any one of these conditions is met, the vehicle braking mode is switched to electro-hydraulic braking mode; wherein the electro-hydraulic braking transfer condition is: the battery feedback current is greater than 0 and the duration exceeds a set first time threshold. In electro-hydraulic braking mode, the sum of the electric motor braking torque and the hydraulic braking torque is matched to the total braking torque required by the vehicle, and the vehicle braking mode is switched to energy recovery mode based on battery status data and braking status data. In energy recovery mode or electro-hydraulic braking mode, if the fault status data indicates a motor fault or battery fault, the vehicle braking mode is switched to hydraulic braking mode.

2. The method according to claim 1, characterized in that, The braking status 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 charge / discharge current.

3. The method according to claim 1, characterized in that, it further... include: 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 initialization operations; The initialization operation includes: Perform program self-test, CAN driver initialization, and IO module initialization; If initialization is complete and the program self-test is normal, then set the self-test success flag.

4. The method according to claim 1, characterized in that, In hydraulic braking mode, the process of matching the hydraulic braking torque to the total braking torque required by the vehicle, and switching the vehicle braking mode to energy recovery mode or electro-hydraulic braking mode based on vehicle speed, battery status data, and braking status data, includes: Make the hydraulic braking torque equal to the total braking torque required by the vehicle; Based on vehicle speed, battery status data, and braking status data: If the following conditions are met: If so, the vehicle braking mode will be switched to energy recovery mode; If the following conditions are met: If so, the vehicle braking mode will be switched to electro-hydraulic braking mode; in, Indicates vehicle speed. The preset first vehicle speed threshold, The battery is in its state of charge. The preset first SOC threshold, This indicates the total braking torque required by the vehicle. This represents the maximum braking torque at the current motor speed.

5. The method according to claim 1, characterized in that, it further... include: In energy recovery mode or electro-hydraulic braking mode, based on battery status data and vehicle speed, if the following conditions are met... Or satisfy If so, the vehicle braking mode will be switched to hydraulic braking mode; in, This indicates the set second SOC threshold. This indicates the set second vehicle speed threshold.

6. The method according to claim 1, characterized in that, in In electro-hydraulic braking mode, the sum of the electric motor's braking torque and the hydraulic braking torque is matched to the vehicle's total required braking torque. Based on battery status data and braking status data, the vehicle's braking mode is switched to energy recovery mode, including: make , , , These represent the electric motor braking torque, hydraulic braking torque, and total vehicle braking torque at time t, respectively. Determine whether the electro-hydraulic braking transfer conditions are met based on battery status data, and determine whether they are met based on braking status data: ; If the electro-hydraulic braking transfer condition is not met, and the condition is met... If the vehicle brakes, switch the braking mode to energy recovery mode; otherwise, maintain the electro-hydraulic braking mode.

7. The method according to claim 6, characterized in that, The method of matching the sum of the electric motor braking torque and the hydraulic braking torque to the total braking torque required by the vehicle includes: Continue acquiring the battery feedback current and its duration to determine whether the electro-hydraulic braking transfer conditions are met and if not. If the conditions are met, the electric motor torque and hydraulic braking torque are redistributed, using the following formula: In the formula, 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 condition is not met... If so, the current braking torque distribution scheme will be maintained.

8. The method according to claim 7, characterized in that, In energy recovery mode, if the trigger condition for transitioning to electro-hydraulic braking mode meets the electro-hydraulic braking transition condition, then while entering electro-hydraulic braking mode, the set torque adjustment step size is reduced based on the maximum braking torque at the current motor speed, and the adjusted motor braking torque and hydraulic braking torque meet the requirements. .

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the energy recovery method according to any one of claims 1-8.

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