Vehicle braking energy recovery evaluation method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle braking energy recovery evaluation method and device, electronic equipment and a storage medium, and the method comprises the steps: generating a first braking energy recovery rate corresponding to a target vehicle based on a first preset vehicle braking energy recovery evaluation rule when it is detected that the target vehicle is in a braking state; or generating a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule; and based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index, vehicle braking energy recovery of the target vehicle is evaluated. According to the embodiment of the invention, the first braking energy recovery rate or the second braking energy recovery rate is used as an evaluation index, so that the evaluation precision of vehicle braking energy recovery can be effectively improved, an energy management strategy is optimized, and finally higher energy utilization efficiency and longer endurance mileage are realized.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle braking energy recovery evaluation method, device, electronic equipment and storage medium. Background Art

[0002] As environmental pollution and energy crisis become increasingly serious, more and more people are shifting their research focus to electric vehicles. The efficient use of energy by electric vehicles is the key to exerting their energy-saving and environmental protection advantages. In recent years, electric vehicles have flourished, but the battery life and charging speed still cannot meet people's daily needs. As an important technology of electric vehicles, brake energy recovery technology is self-evidently important as a means of extending the driving range. It is one of the important means of energy conservation and environmental protection. Studies have shown that when cars are running in urban areas, they accelerate and decelerate frequently, and the energy dissipated by braking accounts for 40% to 50% of the total driving energy. In electric vehicles, the conversion efficiency of this part of energy from the drive wheel to the battery through the electrical system can be as high as 68%. According to some test data, the general contribution rate of electric vehicle energy recovery to NEDC mileage is about 15%, and the better ones can reach about 20%. Therefore, it is very important to obtain the vehicle's brake energy recovery rate, which can reflect the overall brake energy recovery level of the vehicle.

[0003] In the related technology, at present, the electric value and kinetic energy change value are generally obtained through tests at different vehicle speeds, and the braking energy recovery rate is calculated based on the electric value and the kinetic energy change value, and the average value is obtained. However, this method has a large error, and the energy recovery rate obtained is inaccurate, and it is impossible to determine whether the vehicle's energy meets the standard of efficient utilization. Summary of the invention

[0004] The object of the present invention is to provide a vehicle braking energy recovery evaluation method, device, electronic equipment and storage medium.

[0005] In order to achieve the above object, the present invention discloses a vehicle braking energy recovery evaluation method, the method comprising:

[0006] In the case where it is detected that the target vehicle is in a braking state, a first braking energy recovery rate corresponding to the target vehicle is generated based on a first preset vehicle braking energy recovery evaluation rule, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or,

[0007] generating a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure;

[0008] The vehicle braking energy recovery of the target vehicle is evaluated based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index.

[0009] Optionally, generating a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule includes:

[0010] When it is detected that the target vehicle is in a front-axle drive state or a rear-axle drive state, the braking pressure of the target vehicle is converted into a braking torque based on a braking efficiency factor, and a required braking force is obtained based on the braking torque divided by the effective radius of the brake disc, wherein the required braking force includes a total required braking force of the front axle and a total required braking force of the rear axle;

[0011] Obtaining the actual front axle braking force or the actual rear axle braking force corresponding to the target vehicle;

[0012] Obtaining front axle brake consumption energy based on the front axle total required braking force and the current vehicle speed, and obtaining rear axle brake consumption energy based on the rear axle total required braking force and the current vehicle speed, and obtaining front axle motor recovery braking energy based on the front axle actual braking force, the front axle total required braking force and the current vehicle speed;

[0013] A second braking energy recovery rate corresponding to the target vehicle is generated based on the energy consumed by the front axle brake, the energy consumed by the rear axle brake, and the braking energy recovered by the front axle motor.

[0014] Optionally, generating the second braking energy recovery rate corresponding to the target vehicle based on the energy consumed by the front axle brake, the energy consumed by the rear axle brake, and the braking energy recovered by the front axle motor includes:

[0015] The front axle brake energy consumption and the rear axle brake energy consumption are summed to obtain the brake energy consumption corresponding to the target vehicle;

[0016] A second braking energy recovery rate corresponding to the target vehicle is generated based on the braking energy recovered by the front axle motor and the brake energy consumed by the target vehicle.

[0017] Optionally, the brake effectiveness factor is the ratio of the friction torque at the brake disc effective radius of the target vehicle to the brake wheel cylinder pressure, and the brake effectiveness factor is generated based on the brake wheel cylinder diameter, the friction coefficient between the brake pad and the brake disc, and the brake disc effective radius.

[0018] Optionally, the second braking energy recovery rate corresponding to the target vehicle is generated by the following formula:

[0019]

[0020] In the above formula, Eregen is the braking energy recovered by the front axle motor, Ebrake is the brake energy consumed by the target vehicle, and η gen is the second braking energy recovery rate corresponding to the target vehicle, pfh is the actual braking pressure of the front axle, pf is the total required braking pressure of the front axle, pr is the total required braking pressure of the rear axle, is the front axle braking torque, Rr is the brake disc action radius, a is the acceleration of the target vehicle during braking, and v is the vehicle speed

[0021] Optionally, before the step of generating a braking energy recovery rate corresponding to the target vehicle based on the first preset vehicle braking energy recovery evaluation rule, the method further includes:

[0022] Generate a vehicle driving power corresponding to the target vehicle based on the vehicle mass, gravity acceleration, rolling resistance coefficient, current slope, air resistance coefficient, vehicle frontal area, air density, current vehicle speed, and vehicle rotational mass conversion coefficient of the target vehicle;

[0023] When the target vehicle is in a state without brake energy recovery, the vehicle driving consumption energy is a first vehicle driving consumption energy, and the first vehicle driving consumption energy is generated by the vehicle driving power corresponding to the target vehicle;

[0024] When the target vehicle is in a braking energy recovery state and the recovered braking energy is used for driving, the vehicle driving consumption energy is the second vehicle driving consumption energy, which is obtained by subtracting the recoverable braking energy and the first efficiency parameter value from the first vehicle driving consumption energy, and the first efficiency parameter value includes the product of the transmission efficiency of the transmission system, the power generation efficiency of the motor, the battery charging efficiency, the battery discharging efficiency and the motor working efficiency.

[0025] Optionally, generating a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule includes:

[0026] Acquire a first relationship between the battery-end output energy and the driving energy consumption, wherein the first relationship includes that the battery-end output energy is equal to the driving energy consumption divided by a second efficiency parameter value, and the second efficiency parameter value includes the product of the transmission efficiency of the transmission system and the working efficiency of the motor;

[0027] When the target vehicle is in a braking energy recovery state, obtaining a second relationship between the battery-end input energy and the recoverable braking energy, the second relationship including that the battery-end input energy is equal to the recoverable braking energy, the transmission efficiency of the transmission system, and the motor power generation efficiency;

[0028] The first braking energy recovery rate corresponding to the target vehicle is determined based on the current and voltage corresponding to the battery terminal, the first relationship, and the second relationship.

[0029] The present invention discloses a vehicle braking energy recovery evaluation device, the device comprising:

[0030] A first braking energy recovery rate generating module is used to generate a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule when the target vehicle is detected to be in a braking state, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or,

[0031] A second braking energy recovery rate generating module, configured to generate a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure;

[0032] An evaluation module is used to evaluate the vehicle braking energy recovery of the target vehicle based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index.

[0033] An embodiment of the present invention further discloses an electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor;

[0034] The memory is used to store computer programs;

[0035] The processor is used to implement the vehicle braking energy recovery evaluation method as described in the embodiment of the present invention when executing the program stored in the memory.

[0036] The embodiment of the present invention further discloses a computer-readable storage medium having a computer program stored thereon, which, when executed by one or more processors, enables the processors to execute the vehicle braking energy recovery evaluation method as described in the embodiment of the present invention.

[0037] The embodiment of the present invention further discloses a vehicle, including a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the vehicle braking energy recovery evaluation device described in the embodiment of the present invention is implemented.

[0038] Beneficial effects of the present invention:

[0039] The embodiment of the present invention generates a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule when the target vehicle is detected to be in a braking state, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or generates a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure; and evaluates the vehicle braking energy recovery of the target vehicle based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index. The embodiment of the present invention provides a comprehensive and flexible vehicle braking energy recovery evaluation method by generating a first braking energy recovery rate based on a first preset vehicle braking energy recovery evaluation rule or generating a second braking energy recovery rate based on a second preset vehicle braking energy recovery evaluation rule when the target vehicle is detected to be in a braking state. This method not only considers the relationship between the battery output energy and the driving energy consumption, but also converts the braking torque into the required braking pressure through the braking efficiency factor, so as to more accurately evaluate the braking energy recovery rate. By using the first or second braking energy recovery rate as an evaluation indicator, the present invention can effectively improve the evaluation accuracy of vehicle braking energy recovery, optimize the energy management strategy, and ultimately achieve higher energy utilization efficiency and longer cruising range. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A flowchart of a method for evaluating vehicle braking energy recovery provided in an embodiment of the present invention;

[0041] Figure 2A flowchart of another method for evaluating vehicle braking energy recovery provided in an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the structure of a vehicle braking energy recovery evaluation device provided in an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0044] Figure 5 An exemplary braking force analysis schematic diagram provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0046] Reference Figure 1 , shows a flow chart of the steps of a vehicle braking energy recovery evaluation method provided in an embodiment of the present invention, which specifically includes the following steps:

[0047] Step 101, when it is detected that the target vehicle is in a braking state, generating a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or,

[0048] Furthermore, before the step of generating a braking energy recovery rate corresponding to the target vehicle based on the first preset vehicle braking energy recovery evaluation rule, the method further includes:

[0049] Generate a vehicle driving power corresponding to the target vehicle based on the vehicle mass, gravity acceleration, rolling resistance coefficient, current slope, air resistance coefficient, vehicle frontal area, air density, current vehicle speed, and vehicle rotational mass conversion coefficient of the target vehicle;

[0050] When the target vehicle is in a state without brake energy recovery, the vehicle driving consumption energy is a first vehicle driving consumption energy, and the first vehicle driving consumption energy is generated by the vehicle driving power corresponding to the target vehicle;

[0051] When the target vehicle is in a braking energy recovery state and the recovered braking energy is used for driving, the vehicle driving consumption energy is the second vehicle driving consumption energy, which is obtained by subtracting the recoverable braking energy and the first efficiency parameter value from the first vehicle driving consumption energy, and the first efficiency parameter value includes the product of the transmission efficiency of the transmission system, the power generation efficiency of the motor, the battery charging efficiency, the battery discharging efficiency and the motor working efficiency.

[0052] The braking energy recovery rate is used as an evaluation method for braking energy recovery.

[0053] The formula for calculating vehicle driving power is:

[0054]

[0055] Where: m is the mass of the vehicle; g is the acceleration of gravity; f is the rolling resistance coefficient of the vehicle; i is the slope; CD is the air resistance coefficient; A is the frontal area of ​​the vehicle; ρ is the air density; v is the vehicle speed; δ is the vehicle rotational mass conversion coefficient.

[0056] The energy consumed by the vehicle driving without braking energy recovery is:

[0057] Edrive = ∫Pdrive dt (Formula 8)

[0058] When there is braking energy recovery, when the recovered braking energy is used for driving, the energy consumed by driving at this time is:

[0059] E'drive = Edrive - Eregenη d η gen η chg η dischg η m η d (Formula 9)

[0060] Among them, in the above formula 9, Eregen is the theoretically recoverable braking energy; ηd is the transmission efficiency of the transmission system; ηgen is the power generation efficiency of the electric motor; ηchg is the charging efficiency of the battery; ηdischg is the discharge efficiency of the battery; and ηm is the working efficiency of the motor.

[0061] Further, generating a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule includes:

[0062] Acquire a first relationship between the battery-end output energy and the driving energy consumption, wherein the first relationship includes that the battery-end output energy is equal to the driving energy consumption divided by a second efficiency parameter value, and the second efficiency parameter value includes the product of the transmission efficiency of the transmission system and the working efficiency of the motor;

[0063] When the target vehicle is in a braking energy recovery state, obtaining a second relationship between the battery-end input energy and the recoverable braking energy, the second relationship including that the battery-end input energy is equal to the recoverable braking energy, the transmission efficiency of the transmission system, and the motor power generation efficiency;

[0064] The first braking energy recovery rate corresponding to the target vehicle is determined based on the current and voltage corresponding to the battery terminal, the first relationship, and the second relationship.

[0065] It should be noted that, in the embodiment of the present application, the first preset vehicle braking energy recovery evaluation rule is based on the braking energy recovery rate measured at the battery end. Specifically,

[0066] The first relationship is the relationship between the battery output energy Ebat_out and the drive consumption energy Edrive. For details, refer to Formula 10:

[0067]

[0068] When the vehicle has braking energy recovery, the second relationship is determined. The second relationship is the relationship between the battery input energy Ebat_in and the recoverable braking energy Eregen. For details, refer to formula 11:

[0069] Ebat_in=∫Ibat≤0UbatIbatdt=Eregenη d η gen (Formula 11)

[0070] Based on the current and voltage measured at the battery terminal, the braking energy recovery rate η can be calculated as:

[0071]

[0072] It should be noted that, in the embodiment of the present application, η is the first braking energy recovery rate corresponding to the target vehicle.

[0073] Step 102, generating a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure;

[0074] Further, refer to Figure 2 , shows a flowchart of another vehicle braking energy recovery evaluation method provided in an embodiment of the present invention, which specifically includes the following steps:

[0075] Step 102, i.e., generating a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, comprises:

[0076] Step 1021, when it is detected that the target vehicle is in a front-axle drive state or a rear-axle drive state, converting the braking pressure of the target vehicle into a braking torque based on a braking efficiency factor, and obtaining a required braking force based on the braking torque divided by a brake disc effective radius, wherein the required braking force includes a total required braking force of the front axle and a total required braking force of the rear axle;

[0077] Further, the brake effectiveness factor is the ratio of the friction torque at the brake disc effective radius of the target vehicle to the brake wheel cylinder pressure, and the brake effectiveness factor is generated based on the brake wheel cylinder diameter, the friction coefficient between the brake pad and the brake disc, and the brake disc effective radius.

[0078] like Figure 5 As shown, Figure 5 It is mainly the force analysis of the braking force acting on the wheel. The brake efficiency factor Kp2T is defined as the ratio of the friction torque Mb obtained on the brake disc action radius Re to the brake wheel cylinder pressure pc, that is,

[0079]

[0080] When the tire is not locked, the braking torque of the brake is equal to the ground braking torque.

[0081] Mb = FμRe = FbRr (Formula 2)

[0082] The brake pad applies pressure to the brake disc through the movement of the wheel cylinder piston.

[0083]

[0084] According to Newton's friction law, the relationship between the friction force Fμ and FcN at the brake disc's effective radius is:

[0085] Fμ = μc FcN (Formula 4)

[0086] Combining Formula 2-Formula 4, we can get

[0087]

[0088] The size of the brake efficiency factor Kp2T is only related to the diameter of the brake wheel cylinder, the friction coefficient between the brake pad and the brake disc, and the radius of the brake disc.

[0089] Step 1022, obtaining the actual front axle braking force or the actual rear axle braking force corresponding to the target vehicle;

[0090] Step 1023, obtaining front axle brake consumption energy based on the front axle total required braking force and the current vehicle speed, obtaining rear axle brake consumption energy based on the rear axle total required braking force and the current vehicle speed, and obtaining front axle motor recovery braking energy based on the front axle actual braking force, the front axle total required braking force and the current vehicle speed;

[0091] Step 1024: Generate a second braking energy recovery rate corresponding to the target vehicle based on the energy consumed by the front axle brake, the energy consumed by the rear axle brake, and the braking energy recovered by the front axle motor.

[0092] Further, step 1024, i.e., generating a second braking energy recovery rate corresponding to the target vehicle based on the front axle brake energy consumption, the rear axle brake energy consumption and the front axle motor recovering braking energy, includes: summing the front axle brake energy consumption and the rear axle brake energy consumption to obtain the brake energy consumption corresponding to the target vehicle; generating a second braking energy recovery rate corresponding to the target vehicle based on the front axle motor recovering braking energy and the brake energy consumption corresponding to the target vehicle.

[0093] It should be noted that, in the embodiment of the present application, the second preset vehicle braking energy recovery evaluation rule is the braking energy recovery rate based on braking pressure measurement.

[0094] For pure electric cars with front axle drive, the motor only recovers braking energy through the front axle, and the total braking force of the front axle is provided by the hydraulic and motor parts. The braking pressure of the hydraulic part is pfh, and the equivalent braking pressure of the motor part is pfm=pf-pfh; within the range of ignoring the hydraulic accuracy, the actual braking pressure of the rear axle is approximately equal to the total required braking pressure of the rear axle (there is no motor on the rear axle), that is, prh≈pr. The same is true for pure electric cars with rear axle drive.

[0095] According to the braking efficiency factor Kp2T in formula (6), the braking pressure is converted into the corresponding braking torque, such as It is equal to the torque acting on the front axle. The brake disc is located at the center of the wheel hub and the center of the wheel rim. The lever arm is half of Rr. The braking torque can be converted into the corresponding braking force. The product of the braking force and the vehicle speed is the power of the force. The corresponding energy can be obtained by integrating the time. During the braking process, the acceleration a is less than 0. The integral calculation formula is as follows:

[0096] The total energy consumed by the front axle brakes is:

[0097]

[0098] The braking energy recovered by the front axle motor is

[0099]

[0100] The total energy consumed by the rear axle brake is

[0101]

[0102] Furthermore, the second braking energy recovery rate corresponding to the target vehicle is generated by the following formula:

[0103]

[0104] Wherein, in the above formula, Eregen is the braking energy recovered by the front axle motor, Ebrake is the brake energy consumption corresponding to the target vehicle, η is the second braking energy recovery rate corresponding to the target vehicle, pfh is the actual braking pressure of the front axle, pf is the total required braking pressure of the front axle, pr is the total required braking pressure of the rear axle, is the front axle braking torque, Rr is the brake disc effective radius, a is the acceleration of the target vehicle during braking, and v is the vehicle speed.

[0105] In summary, in the embodiments of the present application, two methods are used to evaluate braking energy recovery by using braking energy recovery rate. One is to calculate braking energy based on measurement at the battery end, that is, the energy recovered by the motor is divided by the total braking demand energy. The energy recovered by the motor is equal to the power integral of the battery divided by the power generation efficiency of the generator and the efficiency of the transmission system. The total energy consumed by the brake = total kinetic energy - energy consumed by air resistance - energy consumed by rolling resistance; the other is a method of calculating the braking energy recovery rate based on braking pressure measurement, that is, the energy recovered by the motor is divided by the energy consumed by the front axle brake plus the energy consumed by the rear axle brake. The energy consumed by the brake is converted into braking torque through the braking efficiency factor. The torque is divided by the effective radius to obtain the corresponding braking force, and the product of the torque and the vehicle speed is the power. Integrating the time gives the total energy consumed by the brake.

[0106] Step 103: Based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index, the vehicle braking energy recovery of the target vehicle is evaluated.

[0107] It should be noted that in the embodiment of the present application, the braking energy recovery rate represents the proportion of braking energy used for motor recovery, and its range is between 0-100%, that is, the larger the value of the braking energy recovery rate, the higher the efficiency of braking recovery, indicating that the braking system has a better braking energy conversion rate at the vehicle speed. Regardless of comfort and driving requirements, the larger the value of the braking energy recovery rate, the higher the efficiency of its braking energy recovery.

[0108] Specifically, a pure electric vehicle model is used to calculate the braking energy recovery rate, and a calculation method of the braking energy recovery rate based on brake pressure measurement is adopted. The test method may include: at an initial vehicle speed of 120km / h, a comprehensive calculation is performed with simulation results of 0.1g, 0.2g, 0.3g, 0.4g, 0.5g, and 0.6g, respectively, and the results are shown in Table 1.

[0109] Table 1 An exemplary relationship between braking energy recovery rate and braking intensity

[0110]

[0111] Therefore, it can be concluded from Table 1 above that the maximum braking torque of the motor increases with the increase of braking intensity. After 0.4g, it is limited by external characteristics and the maximum braking torque that the motor can provide remains unchanged. The maximum value of the braking energy recovery rate is around 0.2g, and the braking energy recovery rate decreases at 0.3g. On the one hand, the motor recovery torque is limited, and on the other hand, the braking time becomes shorter and the motor working time becomes shorter, so the recoverable energy becomes smaller.

[0112] The embodiment of the present invention generates a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule when the target vehicle is detected to be in a braking state, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or generates a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure; and evaluates the vehicle braking energy recovery of the target vehicle based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index. The embodiment of the present invention provides a comprehensive and flexible vehicle braking energy recovery evaluation method by generating a first braking energy recovery rate based on a first preset vehicle braking energy recovery evaluation rule or generating a second braking energy recovery rate based on a second preset vehicle braking energy recovery evaluation rule when the target vehicle is detected to be in a braking state. This method not only considers the relationship between the battery output energy and the driving energy consumption, but also converts the braking torque into the required braking pressure through the braking efficiency factor, so as to more accurately evaluate the braking energy recovery rate. By using the first or second braking energy recovery rate as an evaluation indicator, the present invention can effectively improve the evaluation accuracy of vehicle braking energy recovery, optimize the energy management strategy, and ultimately achieve higher energy utilization efficiency and longer cruising range.

[0113] Reference Figure 3 , shows a vehicle braking energy recovery evaluation device provided in an embodiment of the present invention, which specifically includes the following:

[0114] The first braking energy recovery rate generating module 301 is used to generate a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule when the target vehicle is detected to be in a braking state, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or,

[0115] A second braking energy recovery rate generating module 302, configured to generate a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure;

[0116] The evaluation module 303 is used to evaluate the vehicle braking energy recovery of the target vehicle based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index.

[0117] The embodiment of the present invention provides a comprehensive and flexible vehicle braking energy recovery evaluation method by generating a first braking energy recovery rate based on a first preset vehicle braking energy recovery evaluation rule, or generating a second braking energy recovery rate based on a second preset vehicle braking energy recovery evaluation rule when detecting that the target vehicle is in a braking state. This method not only takes into account the relationship between the output energy of the battery end and the driving energy consumption, but also converts the braking torque into the required braking pressure through the braking efficiency factor, so as to more accurately evaluate the braking energy recovery rate. By using the first or second braking energy recovery rate as an evaluation indicator, the present invention can effectively improve the evaluation accuracy of vehicle braking energy recovery, optimize the energy management strategy, and ultimately achieve higher energy utilization efficiency and longer cruising range.

[0118] The embodiment of the present invention further provides an electronic device, such as Figure 4 As shown, it includes a processor 401, a device interface 402, a memory 403 and a bus 404;

[0119] Memory 403, used for storing computer programs;

[0120] The processor 401 is used to execute the program stored in the memory 403 to implement the following steps:

[0121] In the case where it is detected that the target vehicle is in a braking state, a first braking energy recovery rate corresponding to the target vehicle is generated based on a first preset vehicle braking energy recovery evaluation rule, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or,

[0122] generating a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure;

[0123] The vehicle braking energy recovery of the target vehicle is evaluated based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index.

[0124] The bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0125] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0126] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0127] The present invention also provides a storage medium, when the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the vehicle braking energy recovery evaluation method of the aforementioned embodiment.

[0128] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0129] The algorithm and display provided herein are not inherently related to any particular computer, virtual device or other equipment. According to the above description, it is obvious that the structure required for constructing this type of device is. In addition, the present invention is not directed to any specific programming language. It should be understood that various programming languages ​​can be utilized to realize the content of the present invention described herein, and the description of the above specific language is to disclose the best mode of the present invention.

[0130] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0131] Similarly, it should be understood that in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: that the claimed invention requires more features than those expressly recited in each claim. Rather, as reflected in the claims below, inventive aspects lie in less than all of the features of the individual embodiments disclosed above. Therefore, the claims that follow the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0132] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0133] The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the sorting device according to the present invention. The present invention may also be implemented as a device or apparatus program for executing part or all of the methods described herein. Such a program for implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0134] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, apparatuses and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0136] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0137] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0138] It should be noted that the various data-related processes in the embodiments of the present application are all carried out in compliance with the corresponding data protection laws and policies of the country where the device is located, and with the authorization given by the owner of the corresponding device.

Claims

1. A vehicle braking energy recovery evaluation method, characterized in that: The method comprises: In the case where it is detected that the target vehicle is in a braking state, a first braking energy recovery rate corresponding to the target vehicle is generated based on a first preset vehicle braking energy recovery evaluation rule, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or, generating a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure; The vehicle braking energy recovery of the target vehicle is evaluated based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index.

2. The method according to claim 1, characterized in that: The generating of the second braking energy recovery rate corresponding to the target vehicle based on the second preset vehicle braking energy recovery evaluation rule comprises: When it is detected that the target vehicle is in a front-axle drive state or a rear-axle drive state, the braking pressure of the target vehicle is converted into a braking torque based on a braking efficiency factor, and a required braking force is obtained based on the braking torque divided by the effective radius of the brake disc, wherein the required braking force includes a total required braking force of the front axle and a total required braking force of the rear axle; Obtaining the actual front axle braking force or the actual rear axle braking force corresponding to the target vehicle; Obtaining front axle brake consumption energy based on the front axle total required braking force and the current vehicle speed, and obtaining rear axle brake consumption energy based on the rear axle total required braking force and the current vehicle speed, and obtaining front axle motor recovery braking energy based on the front axle actual braking force, the front axle total required braking force and the current vehicle speed; A second braking energy recovery rate corresponding to the target vehicle is generated based on the energy consumed by the front axle brake, the energy consumed by the rear axle brake, and the braking energy recovered by the front axle motor.

3. The method according to claim 2, characterized in that The generating of the second braking energy recovery rate corresponding to the target vehicle based on the energy consumed by the front axle brake, the energy consumed by the rear axle brake, and the braking energy recovered by the front axle motor comprises: The front axle brake energy consumption and the rear axle brake energy consumption are summed to obtain the brake energy consumption corresponding to the target vehicle; A second braking energy recovery rate corresponding to the target vehicle is generated based on the braking energy recovered by the front axle motor and the brake energy consumed by the target vehicle.

4. The method according to claim 2, characterized in that: The brake effectiveness factor is the ratio of the friction torque at the brake disc effective radius of the target vehicle to the brake wheel cylinder pressure, and the brake effectiveness factor is generated based on the brake wheel cylinder diameter, the friction coefficient between the brake pad and the brake disc, and the brake disc effective radius.

5. The method according to any one of claims 2-3, characterized in that: The second braking energy recovery rate corresponding to the target vehicle is generated by the following formula: In the above formula, E regen The front axle motor recovers braking energy, E brake is the brake energy consumption corresponding to the target vehicle, η gen is the second braking energy recovery rate corresponding to the target vehicle, p fh is the actual brake pressure on the front axle, p f The total required braking pressure of the front axle is, p r is the total required brake pressure on the rear axle, is the front axle braking torque, R r is the effective radius of the brake disc, a is the acceleration of the target vehicle during braking, and v is the vehicle speed.

6. The method according to claim 1, characterized in that Before the step of generating a braking energy recovery rate corresponding to the target vehicle based on the first preset vehicle braking energy recovery evaluation rule, the method further includes: Generate a vehicle driving power corresponding to the target vehicle based on the vehicle mass, gravity acceleration, rolling resistance coefficient, current slope, air resistance coefficient, vehicle frontal area, air density, current vehicle speed, and vehicle rotational mass conversion coefficient of the target vehicle; When the target vehicle is in a state without brake energy recovery, the vehicle driving consumption energy is a first vehicle driving consumption energy, and the first vehicle driving consumption energy is generated by a vehicle driving power corresponding to the target vehicle.

7. The method according to claim 6, characterized in that The method further comprises: When the target vehicle is in a braking energy recovery state and the recovered braking energy is used for driving, the vehicle driving consumption energy is the second vehicle driving consumption energy, which is obtained by subtracting the recoverable braking energy and the first efficiency parameter value from the first vehicle driving consumption energy, and the first efficiency parameter value includes the product of the transmission efficiency of the transmission system, the power generation efficiency of the motor, the battery charging efficiency, the battery discharging efficiency and the motor working efficiency.

8. The method according to claim 7, characterized in that The generating of the first braking energy recovery rate corresponding to the target vehicle based on the first preset vehicle braking energy recovery evaluation rule comprises: Acquire a first relationship between the battery-end output energy and the driving energy consumption, wherein the first relationship includes that the battery-end output energy is equal to the driving energy consumption divided by a second efficiency parameter value, and the second efficiency parameter value includes the product of the transmission efficiency of the transmission system and the working efficiency of the motor; When the target vehicle is in a braking energy recovery state, obtaining a second relationship between the battery-end input energy and the recoverable braking energy, the second relationship including that the battery-end input energy is equal to the recoverable braking energy, the transmission efficiency of the transmission system, and the motor power generation efficiency; The first braking energy recovery rate corresponding to the target vehicle is determined based on the current and voltage corresponding to the battery terminal, the first relationship, and the second relationship.

9. A vehicle braking energy recovery evaluation device, characterized in that: The device comprises: A first braking energy recovery rate generating module is used to generate a first braking energy recovery rate corresponding to the target vehicle based on a first preset vehicle braking energy recovery evaluation rule when the target vehicle is detected to be in a braking state, wherein the first preset vehicle braking energy recovery evaluation rule includes determining the first braking energy recovery rate corresponding to the target vehicle based on a first relationship between battery terminal output energy and driving consumption energy and a second relationship between battery segment input energy and recoverable braking energy; or, A second braking energy recovery rate generating module, configured to generate a second braking energy recovery rate corresponding to the target vehicle based on a second preset vehicle braking energy recovery evaluation rule, wherein the second preset vehicle braking energy recovery evaluation rule includes converting the braking torque of the target vehicle into a required braking pressure based on a braking effectiveness factor, and determining the second braking energy recovery rate corresponding to the target vehicle based on the required braking pressure; An evaluation module is used to evaluate the vehicle braking energy recovery of the target vehicle based on the first braking energy recovery rate or the second braking energy recovery rate as a vehicle braking energy recovery evaluation index.

10. A communication device, characterized in that: include: A transceiver, a memory, a processor, and a program stored on the memory and executable on the processor; The processor is used to read the program in the memory to implement the vehicle braking energy recovery evaluation method as described in any one of claims 1-8.

11. A readable storage medium for storing a program, characterized in that: When the program is executed by the processor, the vehicle braking energy recovery evaluation method as described in any one of claims 1 to 8 is implemented.

12. A vehicle comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the vehicle braking energy recovery evaluation device as claimed in claim 9 is implemented.

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