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

Abstract

The invention relates to the technical field of vehicles, and provides an energy recovery method, device and equipment and a storage medium. The energy recovery method comprises the steps that according to the current sliding resistance, the current target acceleration, the whole vehicle mass and the wheel rolling radius, the current basic energy recovery torque is obtained; according to the current slope torque compensation value, the current torque error value and the historical accumulated torque error value, the current basic energy recovery torque is corrected, the current target energy recovery torque is obtained, and energy recovery is conducted based on the current target energy recovery torque; wherein the historical accumulated torque error value is the sum of torque error values of all historical energy recovery periods. According to the technical scheme, the problem that in the prior art, energy recovery is inaccurate due to the fact that a fixed energy recovery torque value is adopted for energy recovery can be solved.

Description

Technical Field

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

[0002] At present, in the prior art, when a vehicle performs energy recovery, energy recovery is performed according to a fixed energy recovery torque value. However, in the actual energy recovery process, errors may exist in the energy recovery process, which will lead to inaccurate energy recovery and cause energy waste. Summary of the invention

[0003] In view of the above problems, the present application provides an energy recovery method, device, equipment and computer-readable storage medium, which are used to solve the problem of inaccurate energy recovery caused by using a fixed energy recovery torque value for energy recovery in the prior art.

[0004] According to a first aspect of an embodiment of the present application, an energy recovery method is provided, which includes: obtaining a current basic energy recovery torque based on a current sliding resistance, a current target acceleration, a vehicle mass and a wheel rolling radius; correcting the current basic energy recovery torque based on a current slope torque compensation value, a current torque error value and a historical accumulated torque error value to obtain a current target energy recovery torque, and performing energy recovery based on the current target energy recovery torque; wherein the historical accumulated torque error value is the sum of the torque error values ​​of all historical energy recovery cycles.

[0005] In an optional manner, the current basic energy recovery torque is corrected according to the current slope torque compensation value, the current torque error value and the historical accumulated torque error value to obtain the current target energy recovery torque, further including: obtaining the current longitudinal acceleration according to the historical vehicle speed, the current vehicle speed and the energy recovery cycle duration; obtaining the current acceleration difference according to the current actual acceleration and the current longitudinal acceleration; obtaining the current error torque error value according to the current acceleration difference and the proportional control coefficient; wherein the proportional control coefficient is obtained by mapping the current vehicle speed, the current acceleration difference and the first coefficient mapping table.

[0006] In an optional manner, the current basic energy recovery torque is corrected according to the current slope torque compensation value, the current torque error value and the historical cumulative torque error value to obtain the current target energy recovery torque, and further includes: obtaining the torque error value of each historical energy recovery cycle according to each historical acceleration difference and the integral control coefficient; summing the torque error values ​​of each historical energy recovery cycle to obtain the historical cumulative torque error value; wherein the integral control coefficient is obtained by mapping the current vehicle speed, the current acceleration difference and the second coefficient mapping table.

[0007] In an optional manner, the current basic energy recovery torque value is corrected according to the current slope compensation torque value, the current torque error value and the historical accumulated torque error value to obtain the current target energy recovery torque, further comprising: obtaining the current longitudinal acceleration according to the historical vehicle speed, the current vehicle speed and the energy recovery cycle duration; obtaining the measured acceleration error value according to the current actual acceleration and the current longitudinal acceleration; and obtaining the current slope torque compensation value according to the vehicle mass, the measured acceleration error value and the wheel rolling radius.

[0008] In an optional manner, before obtaining the basic energy recovery torque of the current energy recovery cycle based on the sliding resistance of the current energy recovery cycle and the target current acceleration, the vehicle mass and the wheel rolling radius, the method further includes: drawing points in a coordinate system based on multiple groups of test vehicle speed values ​​and test sliding resistance values, and fitting a vehicle speed sliding resistance curve; wherein the test vehicle speed value and the test sliding resistance value are values ​​obtained by testing, and the vehicle speed sliding resistance curve includes: a vehicle speed constant term coefficient, a vehicle speed linear term coefficient and a vehicle speed quadratic term coefficient; and obtaining the current actual sliding resistance based on the current vehicle speed, the vehicle speed constant term coefficient, the vehicle speed linear term coefficient and the vehicle speed quadratic term coefficient.

[0009] In an optional manner, before obtaining the basic energy recovery torque of the current energy recovery cycle based on the sliding resistance and current target acceleration, the vehicle mass and the wheel rolling radius of the current energy recovery cycle, the method further includes: determining the road condition type corresponding to each energy recovery cycle based on preset navigation information; determining the current target energy recovery level based on the current road condition type; and mapping the current target acceleration based on the current target energy recovery level or the preset energy recovery level.

[0010] In an optional manner, the energy recovery method further includes: based on the energy recovery level and energy recovery value corresponding to each energy recovery cycle, constructing an energy recovery level change curve and an energy recovery value change curve respectively to display the energy recovery level change curve and the energy recovery value change curve.

[0011] According to a second aspect of an embodiment of the present application, an energy recovery device is provided, the device comprising: a torque determination module, for obtaining a current basic energy recovery torque based on a current sliding resistance, a current target acceleration, a vehicle mass and a wheel rolling radius; and for correcting the current basic energy recovery torque based on a current slope torque compensation value, a current torque error value and a historical cumulative torque error value to obtain a current target energy recovery torque; wherein the historical cumulative torque error value is the sum of current torque error values ​​of all historical energy recovery cycles; and an energy recovery module, for performing energy recovery based on the current target energy recovery torque.

[0012] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a controller; a memory for storing one or more programs, wherein when the one or more programs are executed by the controller, the controller implements the following operations of the energy recovery method: obtaining a current basic energy recovery torque according to a current sliding resistance, a current target acceleration, a vehicle mass and a wheel rolling radius; correcting the current basic energy recovery torque according to a current slope torque compensation value, a current torque error value and a historical cumulative torque error value to obtain a current target energy recovery torque, and performing energy recovery based on the current target energy recovery torque; wherein the historical cumulative torque error value is the sum of the torque error values ​​of all historical energy recovery cycles.

[0013] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes at least one executable instruction. When the executable instruction is run on an energy recovery device / electronic device, the energy recovery device / electronic device performs the following operations of the energy recovery method: obtaining a current basic energy recovery torque based on a current sliding resistance, a current target acceleration, a vehicle mass, and a wheel rolling radius; correcting the current basic energy recovery torque based on a current slope torque compensation value, a current torque error value, and a historical cumulative torque error value to obtain a current target energy recovery torque, and performing energy recovery based on the current target energy recovery torque; wherein the historical cumulative torque error value is the sum of the torque error values ​​of all historical energy recovery cycles.

[0014] The present application calculates the current basic energy recovery torque according to the current sliding resistance, the current target acceleration, the vehicle mass and the wheel rolling radius. The current sliding resistance and the current target acceleration are collected in real time, so that the calculated current basic energy recovery torque is also a real-time value. The determined current basic energy recovery value is more in line with the intensity of energy recovery under the current vehicle condition, and the current slope torque compensation value, the current torque error value and the historical cumulative torque error value are introduced to correct the current basic energy recovery torque. Compared with the prior art that uses a fixed energy recovery torque value for recovery, the present application can compensate for the slope, the current error and the historical cumulative error, so that the determined current target energy recovery torque is more accurate, and energy recovery based on the current target energy recovery torque is closer to the energy recovery torque that the current vehicle can actually achieve in the current energy recovery cycle, which can prevent the vehicle from accelerating and decelerating due to repeated changes in speed, and bring a good experience to users.

[0015] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0017] Figure 1 A flow chart of a first embodiment of an energy recovery method provided by the present application is shown.

[0018] Figure 2 A flow chart of a second embodiment of an energy recovery method provided by the present application is shown.

[0019] Figure 3 A flow chart of a third embodiment of an energy recovery method provided by the present application is shown.

[0020] Figure 4 A flow chart of a fourth embodiment of an energy recovery method provided by the present application is shown.

[0021] Figure 5 A flow chart of a fifth embodiment of an energy recovery method provided by the present application is shown.

[0022] Figure 6 A flow chart of a sixth embodiment of an energy recovery method provided by the present application is shown.

[0023] Figure 7A schematic structural diagram of an embodiment of an energy recovery device provided in the present application is shown.

[0024] Figure 8 A schematic structural diagram of an embodiment of the electronic device of the present application is shown. DETAILED DESCRIPTION

[0025] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0028] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0029] Figure 1 A flow chart of a first embodiment of an energy recovery method provided by the present application is shown. Figure 1 As shown, the method includes the following steps S110 to S120, which are described in detail as follows:

[0030] Step S110: Obtain the current basic energy recovery torque according to the current sliding resistance, the current target acceleration, the vehicle mass and the wheel rolling radius.

[0031] Among them, the current gliding resistance is the resistance generated during the gliding process of the current energy recovery cycle, the current target acceleration is the acceleration determined in the current energy recovery cycle based on the different energy recovery levels set; the vehicle mass can represent the sum of the vehicle's curb weight and the weight of passengers and cargo, which can be detected by a weight sensor so that the current basic energy recovery torque can be determined based on the real-time weight changes.

[0032] For example, the current vehicle basic energy recovery torque T base It can be obtained by the following calculation formula:

[0033] T base =(m*a1+F f )*r

[0034] Among them, m represents the vehicle mass;

[0035] a1 represents the current target acceleration;

[0036] m represents the vehicle mass;

[0037] F f Indicates the current sliding resistance;

[0038] r represents the rolling radius of the wheel.

[0039] Step S120: According to the current slope torque compensation value, the current torque error value and the historical cumulative torque error value, the current basic energy recovery torque is corrected to obtain the current target energy recovery torque, and energy recovery is performed based on the current target energy recovery torque; wherein the historical cumulative torque error value is the sum of the current torque error values ​​of all historical energy recovery cycles.

[0040] Among them, when the vehicle is on a slope, due to the weight of the vehicle itself, it will generate acceleration along the slope downward. By calculating the current slope torque compensation value, the torque error caused by the slope can be corrected; the size of the basic energy recovery torque is related to the current acceleration. Since the current target acceleration determined is not the actual acceleration of the current vehicle, the basic energy recovery torque determined according to the current target acceleration may also have a certain deviation, and the basic energy recovery torque in each energy recovery cycle may have a cumulative error. The generated current torque error value and the historical cumulative torque error value can be corrected. For example, the current target energy recovery torque T coast It can be expressed by the following calculation formula:

[0041] T coast =T base +T offset +T P1 +T L

[0042] Among them, T offset Indicates the current slope torque compensation value;

[0043] T P1 Indicates the current torque error value;

[0044] T L Indicates the historical accumulated torque error value.

[0045] The current basic energy recovery torque is calculated according to the current sliding resistance, the current target acceleration, the vehicle mass and the wheel rolling radius. The current sliding resistance and the current target acceleration are collected in real time, so that the calculated current basic energy recovery torque is also a real-time value. The determined current basic energy recovery value is more in line with the intensity of energy recovery under the current vehicle condition, and the current slope torque compensation value, the current torque error value and the historical cumulative torque error value are introduced to correct the current basic energy recovery torque. Compared with the prior art that uses a fixed energy recovery torque value for recovery, this scheme can compensate for the slope, the current error and the historical cumulative error, so that the determined current target energy recovery torque is more accurate, and energy recovery based on the current target energy recovery torque is closer to the energy recovery torque that the current vehicle can actually achieve in the current energy recovery cycle, which can prevent the vehicle from accelerating and decelerating due to repeated changes in speed, and bring a good experience to users.

[0046] Figure 2 FIG. 1 is a flow chart showing a second embodiment of an energy recovery method provided by the present application. Figure 2 As shown, in Figure 1 Before step S120 in the method, the following steps S210 to S230 are further included, which are described in detail as follows:

[0047] Step S210: Obtain the current longitudinal acceleration according to the historical vehicle speed, the current vehicle speed and the energy recovery cycle duration.

[0048] Among them, energy recovery is performed once after each energy recovery cycle, and the vehicle speed is collected once in each energy recovery cycle. For example, an energy recovery cycle can be 10ms, and the vehicle speed will be collected every 10ms to determine the current longitudinal acceleration, and then determine the current target energy recovery torque of the current energy recovery cycle; the historical vehicle speed can be the previous adjacent historical vehicle speed of the current vehicle speed, that is, the vehicle speed corresponding to the historical energy recovery cycle adjacent to the current energy recovery cycle. The energy recovery cycle duration is the duration of each energy recovery cycle, and the duration of each energy recovery cycle is the same. According to the difference between the historical vehicle speed and the current vehicle speed, as well as the energy recovery cycle duration, the current longitudinal acceleration can be determined. The longitudinal acceleration represents the acceleration in the vehicle's driving direction. For example, the current longitudinal acceleration a yIt can be calculated using the following formula:

[0049]

[0050] Wherein, v represents the current vehicle speed;

[0051] v1 represents the historical vehicle speed;

[0052] T represents the duration of the energy recovery cycle.

[0053] Step S220: Obtain the current acceleration difference according to the current target acceleration and the current longitudinal acceleration.

[0054] Among them, the current acceleration difference can be obtained by the following calculation formula:

[0055] a2=a1-a y

[0056] Step S230: Obtain the current torque error value according to the current acceleration difference and the proportional control coefficient.

[0057] By multiplying the current acceleration difference and the proportional control coefficient, the error generated by the acceleration difference can be converted into the current torque error to correct the basic energy recovery torque. For example, the current torque error value T P1 It can be calculated using the following formula:

[0058] T P1 =a2K p

[0059] Among them, K p Represents the proportional control coefficient.

[0060] It should be noted that the proportional control coefficient is obtained by mapping according to the current vehicle speed, the current acceleration difference and the first coefficient mapping table.

[0061] In this embodiment, a first coefficient mapping table including vehicle speed, acceleration difference and proportional control coefficient can be obtained through calibration, and the proportional control coefficient can be obtained by looking up the first coefficient mapping table according to the current vehicle speed and the current acceleration difference.

[0062] Figure 3 A flow chart of a third embodiment of an energy recovery method provided by the present application is shown. Figure 3 As shown, in Figure 1 Before step S120 in the method, the following steps S310 to S320 are further included, which are described in detail as follows:

[0063] Step S310: Obtaining the torque error value of each historical energy recovery cycle according to each historical acceleration difference and the integral control coefficient.

[0064] Among them, each historical energy recovery cycle may have a corresponding torque error value. By multiplying all historical acceleration differences by the integral proportional control coefficient, the error corresponding to each historical energy recovery cycle can be obtained. For example, the torque error value L of each historical energy recovery cycle can be obtained using the following calculation formula:

[0065] L=K i a 2i

[0066] Among them, K i represents the integral control coefficient;

[0067] a 2i Represents the i-th historical acceleration value.

[0068] Step S320: summing up the torque error values ​​of each historical energy recovery cycle to obtain a historical cumulative torque error value.

[0069] For example, the historical accumulated torque error value T L It can be obtained by the following calculation formula:

[0070] T L =K i ∫a 2i dt

[0071] It should be noted that the integral control coefficient is obtained by mapping the current vehicle speed, the current acceleration difference and the second coefficient mapping table;

[0072] In this embodiment, a second coefficient mapping table including vehicle speed, acceleration difference and integral control coefficient can be obtained through calibration, and the integral control coefficient can be obtained by looking up the second coefficient mapping table according to the current vehicle speed and the current acceleration difference.

[0073] Figure 4 FIG. 4 is a flow chart showing a fourth embodiment of an energy recovery method provided by the present application. Figure 4 As shown, in Figure 1 Before step S120 in the method, the following steps S410 to S420 are further included, which are described in detail as follows:

[0074] Step S410: Obtain the current longitudinal acceleration according to the historical vehicle speed, the current vehicle speed and the energy recovery cycle duration.

[0075] The historical vehicle speed may be the previous adjacent historical vehicle speed of the current vehicle speed, that is, the vehicle speed corresponding to the historical energy recovery cycle adjacent to the current energy recovery cycle. The energy recovery cycle duration is the duration of each energy recovery cycle, and the duration of each energy recovery cycle is the same. According to the difference between the historical vehicle speed and the current vehicle speed, and the energy recovery cycle duration, the current longitudinal acceleration may be determined. The longitudinal acceleration represents the acceleration in the vehicle's driving direction. For example, the current longitudinal acceleration a y It can be calculated using the following formula:

[0076]

[0077] Wherein, v represents the current vehicle speed;

[0078] v1 represents the historical vehicle speed;

[0079] T represents the duration of the energy recovery cycle.

[0080] Step S420: Obtain a measured acceleration error value according to the current actual acceleration and the current longitudinal acceleration.

[0081] Among them, the current actual acceleration represents the actual acceleration value of the vehicle in the current energy recovery cycle, which can be detected by the vehicle's built-in acceleration sensor. On the slope, due to the inclination of the vehicle, there will be a gravity acceleration component along the slope, and the basic energy recovery torque does not take into account the impact of the slope on the energy recovery torque, which will cause the current basic energy recovery torque obtained based on the current actual acceleration to be inaccurate. The current slope torque compensation value is obtained by obtaining the measured acceleration error value. Exemplarily, the measured acceleration error value g1 can be obtained using the following calculation formula:

[0082] g1=aa y

[0083] Where a represents the current actual acceleration.

[0084] Step S430: Obtain the current ramp torque compensation value according to the vehicle mass, the measured acceleration error value and the wheel rolling radius.

[0085] The current ramp torque compensation value is calculated to correct the basic energy recovery torque, so that the determined target energy recovery torque is more accurate. For example, the current ramp torque compensation value T offset It can be calculated using the following formula:

[0086] T offset =m(aa y )r

[0087] Figure 5FIG. 5 is a flow chart showing a fifth embodiment of an energy recovery method provided by the present application. Figure 5 As shown, in Figure 1 Before step S110 in the method, the following steps S510 to S520 are further included, which are described in detail as follows:

[0088] Step S510: Plot points in the coordinate system based on multiple sets of test vehicle speed values ​​and test sliding resistance values, and fit the vehicle speed sliding resistance curve; wherein the test vehicle speed value and the test sliding resistance value are values ​​obtained by testing, and the expression of the vehicle speed sliding resistance curve includes a vehicle speed constant term coefficient, a vehicle speed linear term coefficient, and a vehicle speed quadratic term coefficient.

[0089] Among them, multiple groups of test vehicle speed values ​​and test sliding resistance values ​​can be obtained through the sliding experiment test. The test vehicle speed value can be used as the horizontal axis of the coordinate system, and the sliding resistance value can be used as the vertical axis of the coordinate system to establish a coordinate system. By drawing points in the coordinate system according to the multiple groups of test vehicle speed values ​​and test sliding resistance values, the vehicle speed sliding resistance curve can be determined.

[0090] The vehicle speed sliding resistance curve can be expressed by the following formula:

[0091] F f =A+Bv+Cv 2

[0092] Where A represents the constant coefficient of vehicle speed;

[0093] B represents the first-order coefficient of vehicle speed;

[0094] C represents the quadratic coefficient of vehicle speed.

[0095] Step S520: Obtain the current actual sliding resistance according to the current vehicle speed, the vehicle speed constant term coefficient, the vehicle speed first-order term coefficient and the vehicle speed second-order term coefficient.

[0096] Among them, the current vehicle speed is substituted into the expression of the above sliding resistance curve, and the current sliding resistance F can be calculated by the current vehicle speed, the vehicle speed constant term coefficient, the vehicle speed first term coefficient and the vehicle speed second term coefficient. f , so that the basic energy recovery torque value can be calculated.

[0097] Figure 6 FIG. 6 is a flow chart showing a sixth embodiment of an energy recovery method provided by the present application. Figure 6 As shown, in Figure 1 Before step S110 in the method, the following steps S610 to S630 are further included, which are described in detail as follows:

[0098] Step S610: Determine the road condition type corresponding to each energy recovery cycle according to preset navigation information.

[0099] Among them, the preset navigation information entered by the user in the navigation, namely the starting point and the ending point, can determine the type of road condition between the starting point and the ending point. For example, the road condition types include: urban road conditions, suburban road conditions, mountain road conditions, etc.

[0100] Step S620: Determine the current target energy recovery level according to the current road condition type.

[0101] Among them, the energy recovery level is a scale that characterizes the strength of energy recovery. For example, the energy recovery level can be divided into four levels: A, B, C, and D. A corresponding energy recovery level is set for each road condition type to match the user's experience and prevent the energy recovery level from being too large or too small, which would cause the vehicle speed to change too quickly and bring an uncomfortable experience to the user.

[0102] Step S630: mapping to obtain the current target acceleration according to the current target energy recovery level or the preset energy recovery level.

[0103] There is a corresponding mapping relationship between the energy recovery level and the acceleration. The acceleration corresponding to the energy recovery level is obtained by calibration, and the target acceleration is obtained according to the determined target energy recovery level mapping, so that the basic energy recovery torque calculated according to the target acceleration is more accurate. In this embodiment, the energy recovery level can also be customized according to the needs of the user. For example, the preset energy recovery level is set to a strong recovery level, a moderate recovery level, and a weak recovery level, and the user can select the above energy recovery level.

[0104] In another embodiment of the application, based on the energy recovery level and energy recovery value corresponding to each energy recovery cycle, an energy recovery level change curve and an energy recovery value change curve are respectively constructed to display the energy recovery level change curve and the energy recovery value change curve.

[0105] In this embodiment, the current energy recovery value represents the current energy recovery cycle, and the current energy recovery level corresponds to the recovered electricity value. By constructing and displaying the energy recovery level change curve and the energy recovery value change curve, for example, the energy recovery cycle can be used as the horizontal axis, and the energy recovery level and the energy recovery value can be used as the vertical axis. The user can clearly know the changes in energy recovery value and energy recovery value corresponding to the changes in energy recovery level, which provides the user with a reference. When the user presets the energy recovery level, the energy recovery level can be set according to demand.

[0106] Figure 7 Schematic diagram of the structure of an embodiment of an energy recovery device provided by the present application. Figure 7 As shown, the device 700 includes: a torque determination module 710 and an energy recovery module 720 .

[0107] The torque determination module 710 is used to obtain the current basic energy recovery torque according to the current sliding resistance, the current target acceleration, the vehicle mass and the wheel rolling radius; and is also used to correct the current basic energy recovery torque according to the current slope torque compensation value, the current torque error value and the historical accumulated torque error value to obtain the current target energy recovery torque; wherein the historical accumulated torque error value is the sum of the current torque error values ​​of all historical energy recovery cycles;

[0108] The energy recovery module 720 is used to perform energy recovery based on the current target energy recovery torque.

[0109] It should be noted that the energy recovery device provided in the above embodiment and the energy recovery method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0110] Figure 8 A schematic diagram of the structure of an embodiment of the electronic device of the present application is shown, which shows a schematic diagram of the structure of a computer system suitable for implementing the electronic device of the embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0111] See also Figure 8 As shown, the electronic device includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the above-mentioned energy recovery method is executed.

[0112] Please continue reading Figure 8 As shown, the computer system 800 of the electronic device includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage part 808 to the random access memory (RAM) 803, such as executing the method in the above embodiment. In RAM 803, various programs and data required for system operation are also stored. CPU 801, ROM 802 and RAM 803 are connected to each other through a bus 804. Input / output (I / O) interface 805 is also connected to bus 804.

[0113] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed so that a computer program read therefrom is installed into the storage section 808 as needed.

[0114] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program 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 section 809, and / or installed from a removable medium 811. When the computer program is executed by a central processing unit (CPU) 801, various functions defined in the system of the present application are executed.

[0115] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the energy recovery method described above when the computer program is executed by a processor. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0116] Another aspect of the present application also provides a computer program product or a computer program, which includes at least one executable instruction, and when the executable instruction is run on an energy recovery device / electronic device, the energy recovery device / electronic device executes the energy recovery method as described above.

[0117] The executable instructions may be specifically used to enable the energy recovery device / electronic device to perform the following operations:

[0118] The current basic energy recovery torque is obtained according to the current sliding resistance, the current target acceleration, the vehicle mass and the wheel rolling radius. The current basic energy recovery torque is corrected according to the current slope torque compensation value, the current torque error value and the historical accumulated torque error value to obtain the current target energy recovery torque, and energy recovery is performed based on the current target energy recovery torque. Among them, the historical accumulated torque error value is the sum of the torque error values ​​of all historical energy recovery cycles.

[0119] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can 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), a 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 the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0120] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, 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 box can also occur in a different order than the order marked in the accompanying drawings. For example, two 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 box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart 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.

[0121] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0122] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0123] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0124] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. An energy recovery method, characterized in that: The energy recovery method comprises: The current basic energy recovery torque is obtained according to the current sliding resistance, the current target acceleration, the vehicle mass and the wheel rolling radius; According to the current slope torque compensation value, the current torque error value and the historical accumulated torque error value, the current basic energy recovery torque is corrected to obtain the current target energy recovery torque, and energy recovery is performed based on the current target energy recovery torque; wherein the historical accumulated torque error value is the sum of the torque error values ​​of all historical energy recovery cycles.

2. The energy recovery method according to claim 1, characterized in that: Before the current basic energy recovery torque is corrected according to the current slope torque compensation value, the current torque error value and the historical accumulated torque error value to obtain the current target energy recovery torque, the method further includes: According to the historical vehicle speed, current vehicle speed and energy recovery cycle length, the current longitudinal acceleration is obtained; Obtaining a current acceleration difference according to the current actual acceleration and the current longitudinal acceleration; A current error torque error value is obtained according to the current acceleration difference and the proportional control coefficient; wherein the proportional control coefficient is obtained by mapping according to the current vehicle speed, the current acceleration difference and a first coefficient mapping table.

3. The energy recovery method according to claim 2, characterized in that: Before the current basic energy recovery torque is corrected according to the current slope torque compensation value, the current torque error value and the historical accumulated torque error value to obtain the current target energy recovery torque, the method further includes: According to each historical acceleration difference and integral control coefficient, the torque error value of each historical energy recovery cycle is obtained; The torque error values ​​of each historical energy recovery cycle are summed to obtain a historical cumulative torque error value; wherein the integral control coefficient is obtained by mapping according to the current vehicle speed, the current acceleration difference and the second coefficient mapping table.

4. The energy recovery method according to claim 1, characterized in that: Before the current basic energy recovery torque value is corrected according to the current slope compensation torque value, the current torque error value, and the historical accumulated torque error value to obtain the current target energy recovery torque, the method further includes: According to the historical vehicle speed, current vehicle speed and energy recovery cycle length, the current longitudinal acceleration is obtained; Obtaining a measured acceleration error value according to the current actual acceleration and the current longitudinal acceleration; A current slope torque compensation value is obtained according to the vehicle mass, the measured acceleration error value and the wheel rolling radius.

5. The energy recovery method according to claim 1, characterized in that: Before obtaining the basic energy recovery torque of the current energy recovery cycle according to the sliding resistance of the current energy recovery cycle and the current target acceleration, the vehicle mass and the wheel rolling radius, the method further includes: Based on multiple groups of test vehicle speed values ​​and test sliding resistance values, points are plotted in a coordinate system to obtain a vehicle speed sliding resistance curve by fitting; wherein the test vehicle speed value and the test sliding resistance value are values ​​obtained by testing, and the vehicle speed sliding resistance curve includes: a vehicle speed constant term coefficient, a vehicle speed first-order term coefficient, and a vehicle speed second-order term coefficient; The current actual sliding resistance is obtained according to the current vehicle speed, the vehicle speed constant term coefficient, the vehicle speed first-order term coefficient and the vehicle speed second-order term coefficient.

6. The energy recovery method according to claim 1, characterized in that: Before obtaining the basic energy recovery torque of the current energy recovery cycle according to the sliding resistance of the current energy recovery cycle and the current target acceleration, the vehicle mass and the wheel rolling radius, the method further includes: Determine the road condition type corresponding to each energy recovery cycle according to preset navigation information; Determine the current target energy recovery level according to the current road condition type; The current target acceleration is obtained by mapping according to the current target energy recovery level or the preset energy recovery level.

7. The energy recovery method according to claim 6, characterized in that: The energy recovery method further comprises: Based on the energy recovery level and the energy recovery value corresponding to each energy recovery cycle, an energy recovery level change curve and an energy recovery value change curve are respectively constructed to display the energy recovery level change curve and the energy recovery value change curve.

8. An energy recovery device, characterized in that: The device comprises: a torque determination module, for obtaining a current basic energy recovery torque according to a current sliding resistance, a current target acceleration, a vehicle mass and a wheel rolling radius; and for correcting the current basic energy recovery torque according to a current slope torque compensation value, a current torque error value and a historical accumulated torque error value to obtain a current target energy recovery torque; wherein the historical accumulated torque error value is the sum of the current torque error values ​​of all historical energy recovery cycles; An energy recovery module is used to perform energy recovery based on the current target energy recovery torque.

9. An electronic device, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the energy recovery method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is executed on the energy recovery device / electronic device, the energy recovery device / electronic device performs the operation of the energy recovery method as described in any one of claims 1 to 7.

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