Braking energy recovery method and braking energy recovery system

Abstract

The invention discloses a braking energy recovery method and a braking energy recovery system, and relates to the technical field of electric automobiles, the disclosed energy recovery method is applied to an electric vehicle provided with an energy recovery pedal, and comprises the steps that when a first braking request triggered by a user based on the energy recovery pedal is received, a motor braking deceleration threshold value is obtained; the motor braking deceleration threshold value is scaled, and the current motor braking deceleration is obtained; braking according to the current motor braking deceleration; and kinetic energy generated in the braking process is converted into electric quantity to charge a power battery according to the current motor braking deceleration. The current motor braking deceleration used for braking energy recovery is obtained by scaling the motor braking deceleration threshold value, so that the current motor braking deceleration can be limited within the motor braking deceleration threshold value, the braking energy recovery process is smoother, the pause feeling brought to a user in a vehicle is avoided, and the user experience is improved. And the riding experience is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a braking energy recovery method and a braking energy recovery system. Background Art

[0002] Energy recovery is one of the important technologies of pure electric vehicles. When a traditional fuel vehicle decelerates or brakes, the vehicle's kinetic energy is converted into heat energy through the braking system and released into the atmosphere. In pure electric vehicles, this wasted kinetic energy can be converted into electrical energy through brake energy recovery technology and stored in the vehicle's battery, and further converted into driving energy. For example, when the vehicle starts or accelerates and needs to increase the driving force, the motor driving force becomes the auxiliary power of the engine, allowing the electrical energy to be effectively used.

[0003] However, during the braking energy recovery process, the motor works as a generator and generates a reaction torque in the opposite direction of the wheel rotation. This reaction torque will act on the wheels, causing the overall deceleration during the braking energy recovery process to be too high, making the braking energy recovery process not smooth enough, causing users in the car to feel frustrated, and affecting the riding experience.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a braking energy recovery method and a braking energy recovery system, aiming to solve the technical problem that the braking energy recovery process in the prior art is not smooth enough, which brings a sense of frustration to the users in the car and affects the riding experience.

[0006] To achieve the above object, the present application provides a braking energy recovery method, which is applied to an electric vehicle provided with an energy recovery pedal, and comprises:

[0007] Upon receiving a first braking request triggered by the energy recovery pedal, obtaining a motor braking deceleration threshold;

[0008] Scaling the motor braking deceleration threshold to obtain a current motor braking deceleration;

[0009] Braking according to the current motor braking deceleration;

[0010] The kinetic energy generated during braking is converted into electrical energy according to the current motor braking deceleration to charge the power battery.

[0011] In one embodiment, the step of scaling the motor braking deceleration threshold to obtain the current motor braking deceleration includes:

[0012] determining a current pedal travel and a pedal travel threshold of the energy recovery pedal;

[0013] Scaling the motor braking deceleration threshold according to the pedal travel threshold to obtain a sensitivity coefficient;

[0014] The current motor braking deceleration is determined according to the sensitivity coefficient and the current pedal travel.

[0015] In one embodiment, before the step of obtaining the motor braking deceleration threshold when receiving the first braking request triggered by the user based on the energy recovery pedal, the step further includes:

[0016] Determine the charging current threshold of the power battery;

[0017] Determine the motor torque threshold according to the charging current threshold, the motor speed and the battery charging voltage;

[0018] The motor braking deceleration threshold is determined according to the motor torque threshold, the vehicle mass, the drag coefficient, the rotating wheel radius and the rotation ratio.

[0019] In one embodiment, the step of converting the kinetic energy generated during braking into electric quantity to charge the power battery according to the current braking deceleration comprises:

[0020] Determine whether the current remaining capacity of the power battery is lower than the preset capacity;

[0021] If yes, converting the kinetic energy generated during braking into electric quantity to charge the power battery according to the current braking deceleration;

[0022] If not, stop charging the power battery.

[0023] In one embodiment, the step of braking according to the current motor braking deceleration includes:

[0024] upon receiving a second braking request triggered by the user based on the brake pedal, generating a current braking system deceleration;

[0025] Braking is performed according to the current motor braking deceleration and the current brake system deceleration.

[0026] In one embodiment, after the step of converting the kinetic energy generated during braking into electric quantity to charge the power battery according to the current motor braking deceleration, the method further includes:

[0027] Determine a current deceleration sum according to the current motor braking deceleration and the current brake system deceleration;

[0028] Determining whether the current deceleration sum reaches a preset deceleration;

[0029] If so, the current motor braking deceleration or the current brake system deceleration is adjusted by adjusting the motor control parameters, and the step of determining the current deceleration sum based on the current motor braking deceleration and the current brake system deceleration is returned until the adjusted deceleration sum is lower than the preset deceleration.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a braking energy recovery system, the energy recovery system comprising: a vehicle controller, a motor controller, an energy recovery pedal and a power battery;

[0031] The vehicle controller is connected to the motor controller and the energy recovery pedal respectively, and the motor controller is connected to the motor and the power battery respectively;

[0032] The vehicle controller is configured to obtain a motor braking deceleration threshold upon receiving a first braking request triggered by the user based on the energy recovery pedal;

[0033] The vehicle controller is further used to scale the motor braking deceleration threshold to obtain a current motor braking deceleration, and send the current motor braking deceleration to the motor controller;

[0034] The motor controller is used to control the motor to brake according to the current motor braking deceleration;

[0035] The motor controller is also used to convert the kinetic energy generated during braking into electrical energy to charge the power battery according to the current motor braking deceleration.

[0036] In one embodiment, the system further comprises: a brake system and a brake pedal;

[0037] The vehicle controller is respectively connected to the brake pedal and the brake system;

[0038] The vehicle controller is further configured to send the second braking request to the braking system upon receiving a second braking request triggered by the user based on the brake pedal;

[0039] The brake system is used to generate a current brake system deceleration according to the second brake request, and send the current brake system deceleration to the vehicle controller;

[0040] The vehicle controller is further used to send the current brake system deceleration to the motor controller;

[0041] The motor controller is further used to control the motor to brake according to the current motor braking deceleration and the current brake system deceleration.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a braking energy recovery device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the energy recovery method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the energy recovery method described above are implemented.

[0044] One or more technical solutions proposed in this application have at least the following technical effects:

[0045] The present application obtains the motor braking deceleration threshold upon receiving the first braking request triggered by the user based on the energy recovery pedal; scales the motor braking deceleration threshold to obtain the current motor braking deceleration; brakes according to the current motor braking deceleration; and converts the kinetic energy generated during braking into electricity to charge the power battery according to the current motor braking deceleration. Since the present application performs braking energy recovery through the energy recovery pedal, and the current motor braking deceleration used for braking energy recovery is obtained by scaling the motor braking deceleration threshold, the current motor braking deceleration can be limited within the motor braking deceleration threshold, so that the overall deceleration during the braking energy recovery process is relatively low, the braking energy recovery process is smoother, and the sense of frustration to the users in the vehicle is avoided, which effectively improves the riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 This is a schematic diagram of the flow chart of the first embodiment of the braking energy recovery method of the present application;

[0049] Figure 2This is a schematic diagram of an energy recovery pedal in the first embodiment of the braking energy recovery method of this application;

[0050] Figure 3 This is a flow chart of a second embodiment of the braking energy recovery method of the present application;

[0051] Figure 4 This is a schematic flow chart of a third embodiment of the braking energy recovery method of the present application;

[0052] Figure 5 This is a schematic diagram of the structure of the braking energy recovery system of this application;

[0053] Figure 6 It is a schematic diagram of the structure of a braking energy recovery device suitable for implementing the embodiment of the present application.

[0054] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the embodiment of the present application is: when receiving the first braking request triggered by the user based on the energy recovery pedal, obtaining the motor braking deceleration threshold; scaling the motor braking deceleration threshold to obtain the current motor braking deceleration; braking according to the current motor braking deceleration; converting the kinetic energy generated during braking into electrical energy to charge the power battery according to the current motor braking deceleration.

[0058] In the prior art, during the braking energy recovery process, the motor will generate a reaction torque on the wheel in the opposite direction of the wheel rotation, resulting in an overall excessive deceleration during the braking energy recovery process, making the braking energy recovery process not smooth enough, causing a sense of frustration for users in the car and affecting the riding experience.

[0059] The present application provides a solution, which performs brake energy recovery through an energy recovery pedal, and the current motor braking deceleration used for brake energy recovery is obtained by scaling the motor braking deceleration threshold. Therefore, the current motor braking deceleration can be limited within the motor braking deceleration threshold, so that the overall deceleration during the braking energy recovery process is relatively low, the braking energy recovery process is smoother, avoiding a sense of frustration for users in the car, and effectively improving the riding experience.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device applied to electric vehicles and having braking energy recovery, network communication and program running functions, such as a vehicle controller, a motor controller, etc., or an electronic device integrating a vehicle controller, a motor controller, a braking energy recovery device, etc. The following takes the braking energy recovery device as an example to illustrate this embodiment and the following embodiments.

[0061] Based on this, the embodiment of the present application provides a braking energy recovery method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the braking energy recovery method of the present application.

[0062] In this embodiment, the braking energy recovery method is applied to an electric vehicle provided with an energy recovery pedal, and the braking energy recovery method includes steps S10 to S40:

[0063] Step S10: upon receiving a first braking request triggered by the user based on the energy recovery pedal, obtaining a motor braking deceleration threshold.

[0064] It should be noted that the energy recovery pedal may be an additional pedal provided in the electric vehicle for energy recovery and braking. Figure 2 , Figure 2 This is a schematic diagram of the energy recovery pedal in the first embodiment of the braking energy recovery method of the present application. Figure 2 In the electric vehicle, an energy recovery pedal, a brake pedal and an accelerator pedal may be provided. The brake pedal is used to control the speed of the vehicle to achieve deceleration or parking; the accelerator pedal is used to control the power output of the motor, thereby controlling the acceleration of the vehicle. When the driver steps on the accelerator pedal, the motor controller can receive instructions and adjust the output power of the motor to accelerate the vehicle; Figure 2 As shown, the driver can step on the brake pedal and the accelerator pedal with the right foot, and step on the energy recovery pedal with the left foot. Compared with the traditional automatic longitudinal driving system that is only suitable for the right foot, the energy recovery pedal provided in this embodiment can move the driver's left foot, prevent the left foot muscle paralysis caused by long-term driving and lack of exercise, and relieve right foot fatigue. During the braking process, when the driver releases the accelerator pedal and steps on the energy recovery pedal, the reverse torque of the motor can be used to control the vehicle to decelerate and recover energy at the same time. When the energy recovery pedal is stepped on to the limit and still cannot meet the deceleration requirement, the right foot can step on the brake pedal at the same time to meet the deceleration requirement.

[0065] It is understandable that the first braking request may be a request triggered by a user stepping on an energy recovery pedal.

[0066] It should be noted that the above motor braking deceleration threshold may be a preset threshold. When the actual motor braking deceleration is less than or equal to the motor braking deceleration threshold, it can be determined that the motor braking deceleration is small.

[0067] The motor braking deceleration may be the rate at which the motor speed decreases during the braking process, which reflects the rate at which the motor speed decreases when it runs from high speed to stop or runs at low speed.

[0068] In a specific implementation, the electric vehicle can be controlled to be at different motor braking decelerations through a braking energy recovery test, and the maximum motor braking deceleration at which the user will not feel a sense of frustration is selected as the motor braking deceleration threshold. Upon receiving a first braking request triggered by the user based on an energy recovery pedal, the above-mentioned braking energy recovery device can respond to the first braking request, turn on the braking energy recovery function, and obtain a locally preset motor braking deceleration threshold.

[0069] Step S20, scaling the motor braking deceleration threshold to obtain the current motor braking deceleration.

[0070] In a specific implementation, the energy recovery device can scale the motor braking deceleration threshold by a preset proportional coefficient, and the motor braking deceleration threshold can be multiplied by the inverse of the preset proportion to obtain the motor braking deceleration for braking energy recovery. The preset proportional coefficient can be a pre-set coefficient that is negatively correlated with the pedal stroke of the energy recovery pedal, that is, the greater the pedal stroke of the energy recovery pedal, the smaller the preset proportion is, so as to obtain a larger motor braking deceleration, and the smaller the stroke of the energy recovery pedal, the larger the preset proportion is, so as to obtain a smaller motor braking deceleration, thereby ensuring that the current motor braking deceleration obtained is associated with the user's deceleration demand.

[0071] It should be understood that since the current motor braking deceleration is obtained by scaling the motor braking deceleration threshold, the current motor braking deceleration used for braking energy recovery is limited to the motor braking deceleration threshold, which can ensure that the overall deceleration of the electric vehicle during braking energy recovery (which can be composed of the motor braking deceleration generated by the energy recovery pedal and the deceleration generated by the brake pedal) is limited, avoiding user frustration, ensuring driving comfort, and improving the riding experience.

[0072] The pedal stroke of the energy recovery pedal may be the distance traveled by the energy recovery pedal from an initial position to a current stepped position.

[0073] Step S30, braking according to the current motor braking deceleration.

[0074] In a specific implementation, the above-mentioned braking energy recovery device can control the vehicle deceleration according to the current motor braking deceleration to achieve braking.

[0075] Step S40: converting the kinetic energy generated during braking into electric power to charge the power battery according to the current motor braking deceleration.

[0076] In a specific implementation, the above-mentioned braking energy recovery device can determine the kinetic energy released during braking by monitoring the mass and speed changes of the vehicle, and then use the reverse process of the motor (i.e., the power generation process) to capture this part of the released kinetic energy and convert the vehicle's kinetic energy into electrical energy. The converted electrical energy is regulated by an inverter or other power electronic equipment and output to the power battery to charge the power battery. After the power battery is charged, its power gradually increases, thereby realizing the recovery and utilization of braking energy.

[0077] In a feasible implementation, step S40 may include steps S401 to S403:

[0078] Step S401, determining whether the current remaining capacity of the power battery is lower than a preset capacity.

[0079] It should be noted that the above-mentioned preset capacity may be a pre-set safety capacity. When the current remaining capacity of the power battery exceeds the preset capacity, it is determined that the battery state of charge of the power battery (the ratio of the current remaining capacity to the storage capacity when the power battery is fully charged) is too high, and charging the power battery at this time will damage the battery.

[0080] Based on this, in order to prevent braking energy recovery from affecting the use of the power battery, the braking energy recovery device may compare the current remaining capacity of the power battery with the preset capacity to determine whether the current remaining capacity of the power battery is lower than the preset capacity.

[0081] Step S402: If yes, convert the kinetic energy generated during braking into electric power to charge the power battery according to the current braking deceleration.

[0082] In a specific implementation, when the above-mentioned braking energy recovery device detects that the current remaining capacity of the power battery is lower than the preset capacity, it determines that the power battery currently supports charging, and then it can execute the operation of charging the power battery by converting the kinetic energy generated during braking into electrical energy according to the current braking deceleration, thereby performing braking energy recovery.

[0083] Step S403: if not, stop charging the power battery.

[0084] In a specific implementation, when the above-mentioned braking energy recovery device detects that the current remaining capacity of the power battery is not lower than (greater than or equal to) the preset capacity, it determines that the power battery currently does not support charging, and then does not execute the operation of charging the power battery by converting the kinetic energy generated during braking into electrical energy according to the current braking deceleration, and does not perform braking energy recovery to ensure the safe operation of the power battery.

[0085] In addition, during the braking energy recovery process, if the remaining capacity of the power battery after charging reaches a preset capacity, the braking energy recovery process can be stopped and the charging of the power battery can be stopped to protect the power battery.

[0086] This embodiment obtains the motor braking deceleration threshold upon receiving the first braking request triggered by the user based on the energy recovery pedal; scales the motor braking deceleration threshold to obtain the current motor braking deceleration; brakes according to the current motor braking deceleration; and converts the kinetic energy generated during braking into electricity to charge the power battery according to the current motor braking deceleration. Since this embodiment performs braking energy recovery through the energy recovery pedal, and the current motor braking deceleration used for braking energy recovery is obtained by scaling the motor braking deceleration threshold, the current motor braking deceleration can be limited within the motor braking deceleration threshold, so that the overall deceleration during the braking energy recovery process is relatively low, the braking energy recovery process is smoother, and the sense of frustration to the users in the vehicle is avoided, which effectively improves the riding experience.

[0087] Based on the first embodiment of the present application, the second embodiment of the present application is proposed. In the second embodiment of the present application, the same or similar contents as those of the first embodiment can be referred to the above introduction, and will not be repeated later. Figure 3 , Figure 3 This is a flow chart of the second embodiment of the braking energy recovery method of the present application.

[0088] In this embodiment, step S20 may include steps S201 to S203:

[0089] Step S201, determining the current pedal travel and pedal travel threshold of the energy recovery pedal.

[0090] It should be noted that the above-mentioned pedal travel threshold may be the maximum distance that the energy recovery pedal can move from the fully released position of the energy recovery pedal (i.e. when the energy recovery pedal is at its highest position) to the energy recovery pedal being fully depressed (i.e. when the energy recovery pedal is at its lowest position).

[0091] In a specific implementation, the above-mentioned pedal travel threshold can be pre-configured in the braking energy recovery device. After responding to the first braking request, the above-mentioned braking energy recovery device can monitor the current pedal travel of the energy recovery pedal and read the pedal travel threshold of the energy recovery pedal locally.

[0092] Step S202: scaling the motor braking deceleration threshold according to the pedal travel threshold to obtain a sensitivity coefficient.

[0093] In a specific implementation, the above-mentioned braking energy recovery device can take the inverse of the pedal travel threshold as a scaling factor, and scale the motor braking deceleration threshold based on the scaling factor to obtain a sensitivity coefficient. Alternatively, the motor braking deceleration threshold and the pedal travel threshold can be substituted into a preset sensitivity formula to obtain a sensitivity coefficient.

[0094] Among them, the preset sensitivity formula is:

[0095]

[0096] In the formula, k is the sensitivity coefficient, a max is the motor braking deceleration threshold, p max is the pedal travel threshold.

[0097] Step S203: determining the current motor braking deceleration according to the sensitivity coefficient and the current pedal stroke.

[0098] In a specific implementation, the above-mentioned braking energy recovery device can substitute the sensitivity coefficient and the current pedal stroke into a preset motor braking deceleration formula to obtain the current motor braking deceleration.

[0099] Among them, the preset motor braking deceleration formula is:

[0100]

[0101] In the formula, a e is the current motor braking deceleration, k is the sensitivity coefficient, p e is the current pedal travel.

[0102] This embodiment determines the current pedal stroke and pedal stroke threshold of the energy recovery pedal; determines the sensitivity coefficient according to the pedal stroke threshold and the motor braking deceleration threshold; determines the current motor braking deceleration according to the sensitivity coefficient and the current pedal stroke, thereby accurately determining the current motor braking deceleration according to the current pedal stroke, and effectively improves the determination accuracy of the current motor braking deceleration.

[0103] In a feasible implementation manner, before step S10, steps S01 to S03 may also be included:

[0104] Step S01, determining a charging current threshold of a power battery.

[0105] It should be noted that the above charging current threshold may be the maximum current value that the power battery can withstand when charging.

[0106] In a specific implementation, the charging current threshold of the power battery can be determined by relevant personnel and then saved in advance in the local area of ​​the braking energy recovery device. The braking energy recovery device can read the charging current threshold locally.

[0107] Step S02, determining a motor torque threshold according to the charging current threshold, the motor speed and the battery charging voltage.

[0108] It should be noted that the above motor braking torque threshold may be the braking torque that the motor can generate when the power battery is charged at the charging current threshold. By limiting the motor braking torque within the motor braking torque threshold, it can be ensured that the charging power generated by braking energy recovery is less than or equal to the charging power threshold, thereby protecting the power battery and the motor.

[0109] In a specific implementation, the above-mentioned braking energy recovery device can read the pre-configured motor speed and battery charging voltage of the power battery locally, and substitute the charging current threshold motor speed and battery charging voltage into the preset torque formula to obtain the motor torque threshold.

[0110] Among them, the preset torque formula is:

[0111]

[0112] Where, T max is the motor torque threshold, I max is the charging current threshold, n is the motor speed, and U is the battery charging voltage.

[0113] Step S03, determining the motor braking deceleration threshold according to the motor torque threshold, vehicle mass, drag coefficient, rotating wheel radius and rotation ratio.

[0114] It should be noted that the above-mentioned drag coefficient can be a coefficient obtained through testing by combining the influence of wind resistance, motor resistance, road slope, etc.

[0115] In a specific implementation, the above-mentioned braking energy recovery device can substitute the motor braking torque threshold, vehicle mass, drag coefficient, rotating wheel radius and rotation ratio into the preset deceleration threshold formula to obtain the motor braking deceleration threshold.

[0116] The preset deceleration threshold formula is:

[0117]

[0118] In the formula, a max is the motor braking deceleration threshold, T max is the motor torque threshold, β is the drag coefficient, M is the vehicle mass, r is the rotating wheel radius, and i is the rotation ratio.

[0119] This embodiment determines the charging current threshold of the power battery; determines the motor braking torque threshold according to the charging current threshold, the motor speed and the battery charging voltage; determines the motor braking deceleration threshold according to the motor braking torque threshold, the vehicle mass, the drag coefficient, the rotating wheel radius and the turning ratio. During the gear shift energy recovery process, the greater the motor braking deceleration, the greater the charging current of the power battery. In order to avoid the impact of large currents on the power battery and the motor, the motor braking deceleration threshold of this embodiment is determined by the charging current threshold of the power battery. By limiting the current motor braking deceleration within the motor braking deceleration threshold, it can be ensured that the charging current generated when the braking energy is recovered based on the current motor braking deceleration is limited to the charging current threshold, thereby avoiding the impact of large currents on the motor and the power battery during the energy recovery process, and effectively improving the safety performance of the electric vehicle.

[0120] Based on the first and second embodiments of the present application, the third embodiment of the present application is proposed. In the third embodiment of the present application, the same or similar contents as those of the first and second embodiments can be referred to the above introduction, and will not be repeated in the following. Figure 4 , Figure 4 This is a flow chart of the third embodiment of the braking energy recovery method of the present application.

[0121] In this embodiment, step S30 may include steps S301 to S302:

[0122] Step S301, upon receiving a second braking request triggered by the user based on the brake pedal, generating a current braking system deceleration.

[0123] It should be noted that the second braking request may be a request triggered by the user stepping on the brake pedal.

[0124] It will be appreciated that the braking system deceleration described above may be the rate at which the vehicle speed decreases in response to braking by the brake pedal.

[0125] In a specific implementation, after stepping on the energy recovery pedal, if the deceleration requirement is still not met, the user can continue to step on the brake pedal to trigger a second braking request. The above-mentioned brake energy recovery device can respond to the second braking request, apply pressure to the brake oil in the master brake cylinder to generate a corresponding braking force, and generate a brake system deceleration based on the braking force.

[0126] Step S302 , braking is performed according to the current motor braking deceleration and the current brake system deceleration.

[0127] In a specific implementation, the above-mentioned braking energy recovery device can jointly control the vehicle deceleration based on the above-mentioned current motor braking deceleration and the current braking system deceleration to achieve braking to meet the deceleration demand.

[0128] In a feasible implementation manner, step S40 may further include steps S401 to S403:

[0129] Step S401, determining a current deceleration sum according to the current motor braking deceleration and the current brake system deceleration.

[0130] In a specific implementation, in order to ensure that the wheels do not lock during braking, the above-mentioned braking energy recovery device can calculate the sum of the current braking deceleration and the current braking system deceleration to obtain the current deceleration sum, so as to perform subsequent operations based on the current deceleration sum to prevent the wheels from locking during braking.

[0131] Step S402, determining whether the current deceleration sum reaches a preset deceleration.

[0132] It should be noted that the above-mentioned preset deceleration may be a pre-set critical value for determining whether the deceleration is large. When the current deceleration sum exceeds the preset deceleration, it can be determined that the deceleration is too large, and the wheels may be locked when the vehicle brakes.

[0133] In a specific implementation, the above-mentioned braking energy recovery device can compare the current deceleration sum with the preset deceleration to determine whether the current deceleration sum reaches the preset deceleration.

[0134] Step S403, if yes, adjust the current motor braking deceleration or the current brake system deceleration by adjusting the motor control parameters, and return to the step of determining the current deceleration sum based on the current motor braking deceleration and the current brake system deceleration until the adjusted deceleration sum is lower than the preset deceleration.

[0135] It should be noted that the above motor control parameters may be corresponding parameters for controlling the motor, such as current, voltage, maximum motor braking torque, etc.

[0136] In a specific implementation, when the above-mentioned braking energy recovery device detects that the current deceleration sum reaches (greater than or equal to) the preset deceleration, it determines that the current deceleration is too large. At this time, the motor control parameters can be adjusted by a preset adjustment range, such as reducing the maximum braking torque of the motor by a fixed value to reduce the maximum deceleration threshold of the motor, thereby reducing the current maximum deceleration of the motor, or reducing the current of the motor by a fixed value to reduce the reaction torque of the motor to reduce the deceleration of the braking system, and then return to the step of determining the current total deceleration based on the current motor braking deceleration and the current braking system deceleration, repeat the above operation, and when the current total deceleration still reaches the preset deceleration after one adjustment, continue to adjust until the final adjusted total deceleration is lower than the preset deceleration to prevent wheel locking.

[0137] This embodiment determines the current total deceleration based on the current motor braking deceleration and the current brake system deceleration; determines whether the current total deceleration reaches the preset deceleration; if so, adjusts the current motor braking deceleration or the current brake system deceleration by adjusting the motor control parameters, and returns to the step of determining the current total deceleration based on the current motor braking deceleration and the current brake system deceleration until the adjusted total deceleration is lower than the preset deceleration, thereby limiting the current total deceleration within the preset deceleration, preventing wheel locking, and ensuring driving safety.

[0138] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the braking energy recovery method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0139] The present application also provides a braking energy recovery system, referring to Figure 5 , Figure 5 This is a schematic diagram of the structure of the braking energy recovery system of the present application, which includes: a vehicle controller 100, a motor controller 200, an energy recovery pedal and a power battery.

[0140] The vehicle controller 100 is connected to the motor controller 200 and the energy recovery pedal respectively, and the motor controller 100 is connected to the motor and the power battery respectively.

[0141] The vehicle controller 100 is used to obtain a motor braking deceleration threshold when receiving a first braking request triggered by the user based on the energy recovery pedal.

[0142] The vehicle controller 100 is further used to scale the motor braking deceleration threshold to obtain a current motor braking deceleration, and send the current motor braking deceleration to the motor controller 200 .

[0143] The motor controller 200 is used to control the motor to brake according to the current motor braking deceleration.

[0144] The motor controller 200 is also used to convert the kinetic energy generated during braking into electrical energy to charge the power battery according to the current motor braking deceleration.

[0145] In a specific implementation, an energy recovery control module may be provided in the vehicle controller 100, and the energy recovery control module is connected to the energy recovery pedal. Upon receiving the first braking request triggered by the user based on the energy recovery pedal, the energy recovery control module may respond to the first braking request, turn on the braking energy recovery function, obtain the motor braking deceleration threshold, and send the motor braking deceleration to the motor controller 200. The motor controller 200 controls the vehicle to decelerate according to the current motor braking deceleration to achieve braking. During the braking process, the motor controller 200 can monitor the mass and speed changes of the vehicle to determine the kinetic energy released during the braking process, and then use the reverse process of the motor to capture this part of the released kinetic energy, convert the vehicle's kinetic energy into electrical energy, and the converted electrical energy is adjusted by an inverter or other power electronic equipment, and then output to the power battery to charge the power battery.

[0146] Furthermore, the braking energy recovery system also includes: a braking system 300 and a brake pedal.

[0147] The vehicle controller 100 is connected to the brake pedal and the brake system 300 respectively.

[0148] The vehicle controller 100 is further configured to send the second braking request to the braking system upon receiving a second braking request triggered by the user based on the brake pedal.

[0149] The brake system 300 is used to generate a current brake system deceleration according to the second brake request, and send the current brake system deceleration to the vehicle controller 100 .

[0150] The vehicle controller 100 is also used to send the current braking system deceleration to the motor controller.

[0151] The motor controller 200 is further configured to control the motor to brake according to the current motor braking deceleration and the current brake system deceleration.

[0152] In a specific implementation, a brake control module may also be provided in the vehicle controller 100, and the brake control module is connected to the brake pedal. When receiving a second brake request triggered by the user based on the brake pedal, the brake control module may send the second brake request to the brake system 300, and the brake system 300 may generate the current brake system deceleration according to the second brake request, and send the current brake system deceleration to the brake control module of the vehicle controller 100, and the brake control module may send the current brake system deceleration to the motor controller 200. The motor controller 200 may control the motor to brake according to the current motor braking deceleration and the current brake system deceleration.

[0153] In addition, an acceleration control module may be provided in the vehicle controller 100, and the acceleration control module is connected to the accelerator pedal. When the driver steps on the accelerator pedal, the vehicle controller 100 can receive the corresponding instruction and send it to the motor controller 200. The motor controller 200 adjusts the output power of the motor according to the instruction to accelerate the vehicle.

[0154] As a feasible implementation mode, the energy recovery control module is also used to determine the current pedal travel and pedal travel threshold of the energy recovery pedal; scale the motor braking deceleration threshold according to the pedal travel threshold to obtain a sensitivity coefficient; and determine the current motor braking deceleration according to the sensitivity coefficient and the current pedal travel.

[0155] As a feasible implementation method, the vehicle controller 100 may also have a built-in control chip for determining the charging current threshold of the power battery; determining the motor braking torque threshold based on the charging current threshold, motor speed and battery charging voltage; and determining the motor braking deceleration threshold based on the motor braking torque threshold, vehicle mass, drag coefficient, rotating wheel radius and rotation ratio.

[0156] As a feasible implementation mode, the control chip in the vehicle controller 100 is also used to determine the current total deceleration based on the current motor braking deceleration and the current braking system deceleration; determine whether the current total deceleration reaches the preset deceleration; if so, adjust the current motor braking deceleration or the current braking system deceleration by adjusting the motor control parameters, and perform the operation of determining the current total deceleration based on the current motor braking deceleration and the current braking system deceleration until the adjusted total deceleration is lower than the preset deceleration.

[0157] The braking energy recovery system provided by the present application adopts the braking energy recovery method in the above embodiment, which can solve the technical problem that the braking energy recovery process of the prior art is not smooth enough, which brings a sense of frustration to the users in the car and affects the riding experience. Compared with the prior art, the beneficial effects of the braking energy recovery device provided by the present application are the same as the beneficial effects of the braking energy recovery method provided by the above embodiment, and the other technical features of the braking energy recovery device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0158] The present application provides a braking energy recovery device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the braking energy recovery method in the above-mentioned embodiment one.

[0159] Reference below Figure 6 , Figure 6 The schematic diagram of the structure of the braking energy recovery device suitable for implementing the embodiment of the present application is shown in FIG. The braking energy recovery device in the embodiment of the present application may include but is not limited to devices such as a vehicle controller, a motor controller, a vehicle terminal (such as a vehicle navigation terminal), etc. Figure 6 The braking energy recovery device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0160] like Figure 6As shown, the braking energy recovery device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the braking energy recovery device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the braking energy recovery device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a braking energy recovery device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0161] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0162] The braking energy recovery device provided by the present application adopts the braking energy recovery method in the above embodiment, which can solve the technical problem that the braking energy recovery process of the prior art is not smooth enough, which brings frustration to the users in the car and affects the riding experience. Compared with the prior art, the beneficial effects of the braking energy recovery device provided by the present application are the same as the beneficial effects of the braking energy recovery method provided by the above embodiment, and the other technical features in the braking energy recovery device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0163] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0164] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0165] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the braking energy recovery method in the above-mentioned embodiment.

[0166] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0167] The computer-readable storage medium may be included in the braking energy recovery device; or may exist independently without being assembled into the braking energy recovery device.

[0168] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0169] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0170] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0171] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned braking energy recovery method, and can solve the technical problem that the braking energy recovery process of the prior art is not smooth enough, which brings frustration to the users in the car and affects the riding experience. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the braking energy recovery method provided by the above-mentioned embodiment, and will not be repeated here.

[0172] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A braking energy recovery method, characterized in that: The method is applied to an electric vehicle provided with an energy recovery pedal, and the method comprises: Upon receiving a first braking request triggered by the energy recovery pedal, obtaining a motor braking deceleration threshold; Scaling the motor braking deceleration threshold to obtain a current motor braking deceleration; Braking according to the current motor braking deceleration; The kinetic energy generated during braking is converted into electrical energy according to the current motor braking deceleration to charge the power battery.

2. The braking energy recovery method according to claim 1, characterized in that: The step of scaling the motor braking deceleration threshold to obtain the current motor braking deceleration includes: determining a current pedal travel and a pedal travel threshold of the energy recovery pedal; Scaling the motor braking deceleration threshold according to the pedal travel threshold to obtain a sensitivity coefficient; The current motor braking deceleration is determined according to the sensitivity coefficient and the current pedal travel.

3. The braking energy recovery method according to claim 2, characterized in that: Before the step of obtaining the motor braking deceleration threshold value when receiving the first braking request triggered by the energy recovery pedal, the method further includes: Determine the charging current threshold of the power battery; Determine the motor torque threshold according to the charging current threshold, the motor speed and the battery charging voltage; The motor braking deceleration threshold is determined according to the motor torque threshold, the vehicle mass, the drag coefficient, the rotating wheel radius and the rotation ratio.

4. The braking energy recovery method according to any one of claims 1 to 3, characterized in that: The step of converting the kinetic energy generated during braking into electric quantity to charge the power battery according to the current braking deceleration comprises: Determine whether the current remaining capacity of the power battery is lower than the preset capacity; If yes, converting the kinetic energy generated during braking into electric quantity to charge the power battery according to the current braking deceleration; If not, stop charging the power battery.

5. The braking energy recovery method according to claim 1, characterized in that: The step of braking according to the current motor braking deceleration comprises: upon receiving a second braking request triggered by the user based on the brake pedal, generating a current braking system deceleration; Braking is performed according to the current motor braking deceleration and the current brake system deceleration.

6. The braking energy recovery method according to claim 5, characterized in that: After the step of converting the kinetic energy generated during braking into electric quantity to charge the power battery according to the current motor braking deceleration, the method further includes: Determine a current deceleration sum according to the current motor braking deceleration and the current brake system deceleration; Determining whether the current deceleration sum reaches a preset deceleration; If so, the current motor braking deceleration or the current brake system deceleration is adjusted by adjusting the motor control parameters, and the step of determining the current deceleration sum based on the current motor braking deceleration and the current brake system deceleration is returned until the adjusted deceleration sum is lower than the preset deceleration.

7. A braking energy recovery system, characterized in that: The energy recovery system includes: a vehicle controller, a motor controller, an energy recovery pedal and a power battery; The vehicle controller is connected to the motor controller and the energy recovery pedal respectively, and the motor controller is connected to the motor and the power battery respectively; The vehicle controller is configured to obtain a motor braking deceleration threshold upon receiving a first braking request triggered by the user based on the energy recovery pedal; The vehicle controller is further used to scale the motor braking deceleration threshold to obtain a current motor braking deceleration, and send the current motor braking deceleration to the motor controller; The motor controller is used to control the motor to brake according to the current motor braking deceleration; The motor controller is also used to convert the kinetic energy generated during braking into electrical energy to charge the power battery according to the current motor braking deceleration.

8. The braking energy recovery system according to claim 7, characterized in that: The system also includes: a brake system and a brake pedal; The vehicle controller is respectively connected to the brake pedal and the brake system; The vehicle controller is further configured to send the second braking request to the braking system upon receiving a second braking request triggered by the user based on the brake pedal; The brake system is used to generate a current brake system deceleration according to the second brake request, and send the current brake system deceleration to the vehicle controller; The vehicle controller is further used to send the current brake system deceleration to the motor controller; The motor controller is further used to control the motor to brake according to the current motor braking deceleration and the current brake system deceleration.

9. A braking energy recovery device, characterized in that: The braking energy recovery device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the energy recovery method according to any one of claims 1 to 6.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the energy recovery method according to any one of claims 1 to 6 are implemented.

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