Energy recovery control method and device and vehicle

Abstract

The invention provides an energy recovery control method and device and a vehicle, belongs to the technical field of vehicles, and aims to provide an energy recovery strategy during downhill and improve the driving comfort in the downhill state. The method comprises the steps that the state of the vehicle is detected in response to the situation that the working condition of the vehicle meets the energy recovery condition; when the vehicle is in the downhill state, the current opening degree and the current change rate of an accelerator pedal of the vehicle are obtained; based on the current opening degree, the driving intention of the vehicle is determined; triggering an energy recovery strategy corresponding to the driving intention to perform energy recovery; wherein the energy recovery strategy corresponding to the sliding driving intention comprises the following steps: determining a target recovery torque based on the current vehicle speed of the vehicle; the energy recovery strategy corresponding to the accelerated driving intention comprises the step of determining the target recovery torque based on the current opening degree and / or the current change rate.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a control method and device for energy recovery and a vehicle. Background Art

[0002] New energy vehicles have the characteristics of fast torque response and low energy loss. Their low energy loss mainly depends on the energy recovery system to recover energy during vehicle braking or coasting. When driving on ordinary roads, if the driver does not step on the accelerator pedal, it can be regarded as the driver has no torque driving demand, and then coasting energy recovery is performed.

[0003] However, current vehicles use a fixed energy recovery strategy for energy recovery, which has the problem of low energy recovery efficiency and affects the user's driving experience. Summary of the invention

[0004] In view of this, the present invention aims to propose an energy recovery control method, device and vehicle to solve the problem that current vehicles adopt a fixed energy recovery strategy, resulting in low energy recovery efficiency and affecting the user's driving experience.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A control method for energy recovery, comprising:

[0007] In response to the operating condition of the vehicle satisfying an energy recovery condition, detecting the state of the vehicle; wherein the energy recovery condition represents the operating condition of the vehicle performing coasting energy recovery;

[0008] When the vehicle is in a downhill state, obtaining a current opening degree and a current change rate of an accelerator pedal of the vehicle;

[0009] Based on the current opening degree, determining the driving intention of the vehicle; wherein the driving intention includes a coasting driving intention and an accelerating driving intention;

[0010] triggering an energy recovery strategy corresponding to the driving intention to perform energy recovery;

[0011] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed of the vehicle; wherein the target recovery torque is the recovery torque of the driving motor when the vehicle performs the coasting energy recovery;

[0012] The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and / or the current change rate.

[0013] Further, the determining the driving intention of the vehicle based on the current opening degree and / or the current change rate includes:

[0014] When the current opening is less than a first preset opening, determining that the driving intention is the coasting driving intention;

[0015] When the current opening is greater than or equal to the first preset opening, the driving intention is determined to be the acceleration driving intention.

[0016] Further, determining the target recovery torque based on the current speed of the vehicle includes:

[0017] Obtaining a first preset torque; wherein the first preset torque is a recovery torque when the strength level of the coasting energy recovery is a strong level;

[0018] determining a torque adjustment coefficient based on the current vehicle speed;

[0019] The target recovery torque is determined based on the torque adjustment coefficient and the first preset torque.

[0020] Further, the acceleration driving intention includes a slow acceleration type and a fast acceleration type; the determining the target recovery torque based on the current opening and / or the current change rate includes:

[0021] determining the type of the acceleration driving intention based on the current opening degree and / or the current change rate;

[0022] In the case where the type of the acceleration driving intention is the fast acceleration type, the target recovery torque is determined as a recovery torque that decreases from a first preset torque at a preset torque change rate; wherein the first preset torque is a recovery torque when the intensity level of the coasting energy recovery is a strong level;

[0023] When the type of the acceleration driving intention is the slow acceleration type, the second preset torque is used as the target recovery torque to continuously perform energy recovery according to the target recovery torque; wherein the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

[0024] Further, based on the current opening degree and / or the current rate of change, determining the type of the acceleration driving intention includes:

[0025] When the current opening is greater than or equal to a first preset opening and less than a second preset opening, comparing the current change rate with the preset change rate; wherein the first preset opening is less than the second preset opening;

[0026] If the current change rate is less than or equal to the preset change rate, determining the type of the acceleration driving intention is the slow acceleration type;

[0027] If the current rate of change is greater than the preset rate of change, determining that the type of the acceleration driving intention is the fast acceleration type;

[0028] When the current opening is greater than or equal to the second preset opening, the type of the acceleration driving intention is determined to be the fast acceleration type.

[0029] Further, when the vehicle is in a downhill state, obtaining the accelerator pedal opening and the accelerator pedal change rate of the vehicle includes:

[0030] When the vehicle is in a downhill state, detecting the slope of the position where the vehicle is located;

[0031] When the slope is greater than or equal to a preset slope, obtaining the accelerator pedal opening and accelerator pedal change rate of the vehicle;

[0032] The method further comprises:

[0033] When the slope is less than the preset slope, the coasting energy recovery is turned off.

[0034] Further, the driving mode of the vehicle includes an off-road mode and a non-off-road mode, and in the off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a first preset SOC value;

[0035] In the non-off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a second preset SOC value;

[0036] Wherein, the first preset SOC value is greater than the second preset SOC value.

[0037] Furthermore, the method further comprises:

[0038] When the driving mode of the vehicle is the off-road mode, setting the engine speed of the vehicle during idling charging to a first preset speed;

[0039] When the driving mode of the vehicle is the non-off-road mode, setting the engine speed of the vehicle during idling charging to a second preset speed;

[0040] Wherein, the first preset speed is higher than the second preset speed.

[0041] Compared with the prior art, the energy recovery control method of the present invention has the following advantages:

[0042] The present invention provides a control method for energy recovery, which detects the state of the vehicle in response to the working condition of the vehicle satisfying the energy recovery condition; wherein the energy recovery condition represents the working condition of the vehicle for coasting energy recovery; when the vehicle is in a downhill state, obtains the current opening degree and the current change rate of the accelerator pedal of the vehicle; based on the current opening degree, determines the driving intention of the vehicle; wherein the driving intention includes coasting driving intention and acceleration driving intention; triggers an energy recovery strategy corresponding to the driving intention to perform energy recovery; wherein the energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed of the vehicle; wherein the target recovery torque is the recovery torque of the driving motor when the vehicle performs the coasting energy recovery; the energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and / or the current change rate;

[0043] Therefore, the present invention provides different energy recovery strategies according to the driving intention of the vehicle when it is in a downhill state when the vehicle meets the coasting energy recovery conditions, so that the coasting energy recovery in the downhill process can be applied to different driving intentions, thereby improving the energy recovery efficiency without affecting the user's driving experience; when the vehicle's driving intention is a coasting driving intention, the recovery torque of the coasting energy recovery is regulated according to the current driving speed of the vehicle, so as to avoid excessive deceleration of the vehicle while ensuring energy recovery; and when the vehicle's driving intention is an acceleration driving intention, a corresponding coasting energy recovery strategy is formulated according to the opening degree and change rate of the vehicle's accelerator pedal, so as to reduce the influence of the coasting energy recovery on the vehicle speed increase when the vehicle is accelerating, thereby improving the driving comfort in off-road scenarios.

[0044] Another object of the present invention is to provide an energy recovery control device to solve the problem that current vehicles adopt a fixed energy recovery strategy, resulting in low energy recovery efficiency and affecting the user's driving experience.

[0045] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0046] A control device for energy recovery, the device comprising:

[0047] A detection module, configured to detect a state of the vehicle in response to the operating condition of the vehicle satisfying an energy recovery condition; wherein the energy recovery condition represents an operating condition of the vehicle for coasting energy recovery;

[0048] An acquisition module, used for acquiring a current opening degree and a current change rate of an accelerator pedal of the vehicle when the vehicle is in a downhill state;

[0049] A first determination module, configured to determine the driving intention of the vehicle based on the current opening; wherein the driving intention includes a coasting driving intention and an accelerating driving intention;

[0050] An energy recovery module, used for triggering an energy recovery strategy corresponding to the driving intention to perform energy recovery;

[0051] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed of the vehicle; wherein the target recovery torque is the recovery torque of the driving motor when the vehicle performs the coasting energy recovery;

[0052] The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and the current change rate.

[0053] The advantages of the energy recovery control device and the energy recovery control method described above over the prior art are the same, and are not elaborated herein.

[0054] Another object of the present invention is to propose a vehicle to solve the problem that current vehicles adopt a fixed energy recovery strategy, resulting in low energy recovery efficiency and affecting the user's driving experience.

[0055] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0056] A vehicle comprises: a control unit, wherein the control unit is used to execute the above-mentioned control method for coasting energy recovery.

[0057] The advantages of the vehicle and the above-mentioned energy recovery control method over the prior art are the same, which will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0059] Figure 1 A flow chart of the steps of the energy recovery control method provided by an embodiment of the present invention;

[0060] Figure 2 A flowchart of the steps of the energy recovery strategy corresponding to the coasting driving intention provided by an embodiment of the present invention;

[0061] Figure 3 A control logic diagram of an energy recovery control method provided by an embodiment of the present invention;

[0062] Figure 4A schematic diagram of the structure of an energy recovery control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0063] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0064] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0065] In the related art, new energy vehicles include an energy recovery system, which reduces the energy loss of new energy vehicles through coasting energy recovery, braking energy recovery and creeping energy recovery. Among them, coasting energy recovery is to use the kinetic energy of the vehicle body itself to drive the wheels to rotate in the scenario where the driver does not need the driving torque, thereby driving the drive motor to recover energy. Among them, the recovery torque of the drive motor determines the amount of recovered energy. Coasting energy recovery includes weak level, standard level and strong level of coasting energy recovery. The driver can adjust the coasting energy recovery according to driving habits, etc. For example, when the driver chooses to perform coasting energy recovery at the standard level, it is detected during driving whether the vehicle meets the conditions for coasting energy recovery. If the remaining battery power of the vehicle is below a certain value and the brake pedal and the accelerator pedal are not triggered, it is determined to perform coasting energy recovery with the recovery torque corresponding to the standard level. In this way, during the coasting process of the vehicle, the drive motor is controlled to perform coasting energy recovery with the recovery torque. If the recovery torque needs to be adjusted, the driver needs to actively adjust the coasting energy recovery level, and then adjust the recovery torque of the coasting energy recovery.

[0066] However, the current gliding energy recovery is relatively fixed, and is usually performed based on the energy recovery strategy manually selected by the driver. It is difficult to flexibly change according to the vehicle's driving, especially during downhill driving. When the vehicle's driving changes, only the gliding energy recovery can be turned off, resulting in part of the energy being unable to be recovered, making the energy recovery efficiency low. At the same time, the use of a fixed recovery torque for gliding energy recovery can easily cause the vehicle speed to be reduced too much or insufficiently, requiring the brake pedal to be triggered or the accelerator pedal to be pressed to accelerate, affecting the user's driving experience.

[0067] For example, in an off-road scenario, the vehicle may face complex situations such as continuous ups and downs, and slippery ground. At this time, if the fixed energy recovery strategy in the relevant technology is used for gliding energy recovery, then regardless of the driver's driving intention is to accelerate or glide, the drive motor will recover energy with a fixed recovery torque, which will make the gliding energy recovery hinder the driver's precise control of the vehicle and make it difficult to drive safely in complex situations. If the gliding energy recovery is turned off in complex situations, the vehicle's energy consumption will increase but the lost energy cannot be recovered and replenished, which will easily lead to a decrease in the vehicle's endurance.

[0068] In view of this, the embodiment of the present invention provides a control method, device and vehicle for energy recovery. When the vehicle is in a downhill state, different energy recovery strategies are specified according to the driving intention of the vehicle, so that energy recovery can be applied to various complex situations of downhill, and the influence of coasting energy recovery on the driver's driving is avoided while ensuring energy recovery, thereby improving driving comfort. Therefore, the present invention formulates different energy recovery strategies according to the different driving intentions of the driver. When the driver intends to coast the vehicle, the torque of coasting energy recovery is controlled according to the vehicle speed, so that the vehicle speed is kept within a certain range, which can support safe driving of the vehicle in complex situations. When the driver intends to accelerate the vehicle, the torque of coasting energy recovery is adjusted according to the degree of acceleration, so as to reduce the influence of coasting energy recovery on vehicle acceleration and realize partial energy recovery to improve the vehicle's endurance performance. Therefore, while realizing coasting energy recovery, it is convenient for the driver to accurately control the vehicle speed.

[0069] Reference Figure 1 , Figure 1 The following is a flow chart showing the steps of the energy recovery control method provided by the embodiment of the present invention. Figure 1 As shown, the method specifically includes:

[0070] Step S101, in response to the operating condition of the vehicle satisfying an energy recovery condition, detecting the state of the vehicle.

[0071] Among them, the energy recovery condition represents the operating condition of whether the vehicle performs coasting energy recovery; for example, the state of the accelerator pedal or the brake pedal is obtained, and when both are not working, it is determined that the vehicle can perform coasting energy recovery; or when judging the remaining power of the vehicle, if it is less than a preset power value, it means that it needs to perform energy recovery.

[0072] In the embodiment of the present invention, considering that the vehicle needs the battery to have a good endurance in the off-road mode, the energy recovery conditions in the off-road mode and the non-off-road mode can be distinguished. In the off-road mode, energy recovery is performed at a higher battery SOC (State-of-Charge, remaining battery capacity) value, while in the non-off-road mode, energy recovery can be performed at a lower battery SOC value; therefore, if the vehicle is in the off-road mode, it is determined whether to perform energy recovery according to the energy recovery conditions of the off-road mode; if the vehicle is in the non-off-road mode, it is determined whether to perform energy recovery according to the energy recovery conditions of the non-off-road mode.

[0073] Among them, the non-off-road mode refers to the driving mode of the vehicle on ordinary roads, and the off-road mode refers to the driving mode of the vehicle on sand, mud, snow and other roads.

[0074] It is understandable that the road conditions of the vehicle in off-road mode and non-off-road mode are different. In off-road mode, the road conditions are more complicated. For example, when driving in the desert, there are many sand dunes, easy slipping and heavy load. Ordinary sliding energy recovery conditions are difficult to meet the requirements of desert driving. Therefore, by increasing the SOC value for the vehicle to determine whether to charge, it can have more sufficient power to support vehicle driving in complex conditions. In this case, the vehicle's driving mode is determined first, and after the driving mode is determined, the energy recovery condition corresponding to the driving mode is used as the judgment condition for whether the vehicle performs energy recovery.

[0075] Specifically, when the vehicle's operating conditions meet the energy recovery conditions, the vehicle's state is detected to determine whether it is necessary to turn off the coasting energy recovery according to whether the vehicle is in a downhill state; wherein the energy recovery condition may be that the vehicle's SOC value is lower than a preset value and the vehicle is not in a braking state. After determining that coasting energy recovery is possible, it is detected whether the vehicle is in a downhill state. If it is not in a downhill state, it means that the vehicle is traveling on a flat road, and energy recovery is not performed at this time to avoid the situation where the vehicle needs to further increase the throttle to maintain the driving speed. If it is in a downhill state, it means that part of the energy can be converted from potential energy to kinetic energy and then to electrical energy at this time, and it is determined that coasting energy recovery can be performed at this time.

[0076] In some embodiments, if the slope is too small, the potential energy is insufficient to be converted into electrical energy. In this case, a preset slope value can be determined. Above this slope value, it indicates that the vehicle is in a downhill state. Below this slope value, it is determined that the vehicle is not in a downhill state.

[0077] Among them, whether the vehicle is in a downhill state can be detected by components such as a gyroscope or a horizontal sensor, and whether the vehicle is in a horizontal position can be determined based on the detection results. The vehicle state detection can also be determined based on the height position of the front and rear of the vehicle. By monitoring the height changes of the same horizontal position of the front and rear of the vehicle, when the height of the rear of the vehicle is higher than the height of the front of the vehicle, it is considered that the vehicle is in a downhill state.

[0078] Step S102, when the vehicle is in a downhill state, obtaining the current opening degree and current change rate of the accelerator pedal of the vehicle.

[0079] Specifically, when it is detected that the vehicle is in a downhill state, the driver's driving intention to control the vehicle's driving is determined by the opening change and the opening change rate of the vehicle's accelerator pedal, that is, whether the driver currently needs the vehicle to accelerate, and then the specific energy recovery strategy is determined according to the driving intention.

[0080] In the embodiment of the present invention, the change in the opening degree of the accelerator pedal can be directly monitored by a sensor, and then the change rate of the opening degree of the accelerator pedal can be obtained according to the change time.

[0081] Step S103, determining the driving intention of the vehicle based on the current opening.

[0082] The driving intention includes a coasting driving intention and an accelerating driving intention. The coasting driving intention indicates that the vehicle will continue to drive in a coasting manner, and the accelerating driving intention indicates that the vehicle will continue to drive in an accelerating manner. The opening of the accelerator pedal determines whether the vehicle accelerates, and whether the vehicle will accelerate in the future can be determined based on the opening of the accelerator pedal, thereby determining whether the vehicle's driving intention is a coasting driving intention or an accelerating driving intention.

[0083] Step S104: triggering an energy recovery strategy corresponding to the driving intention to perform energy recovery.

[0084] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque for coasting energy recovery based on the current vehicle speed of the vehicle; wherein the target recovery torque is a recovery torque of a driving motor when the vehicle performs the coasting energy recovery;

[0085] The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and / or the current change rate.

[0086] Specifically, after determining the driving intention of the vehicle, the corresponding energy recovery strategy can be triggered according to the driving intention to perform coasting energy recovery. The coasting energy recovery process is to convert part of the potential energy of the vehicle when going downhill into the kinetic energy of the vehicle going downhill, and part of the kinetic energy is converted into energy to drive the vehicle, and part is converted into electrical energy. The amount of converted electrical energy depends on the recovery torque of the drive motor. Therefore, the energy recovery strategy is regulated by regulating the recovery torque.

[0087] Among them, if the driving intention is a gliding driving intention, it means that the vehicle is gliding downhill. At this time, the current speed of the vehicle is detected to recover gliding energy according to the speed; specifically, if the vehicle speed is faster, the recovery torque is larger so that the subsequent speed of the vehicle will not be too fast; if the vehicle speed is slower, the recovery torque is smaller so that the subsequent speed of the vehicle will not be too slow; thus, the target recovery torque of the vehicle is controlled by the vehicle speed, and the driving speed of the vehicle is adjusted to avoid excessive speed after downhill and partial loss of recoverable energy, and also avoid the situation where the vehicle speed is too slow after downhill and the vehicle needs to accelerate again.

[0088] If the driving intention is to accelerate, it means that the current speed of the vehicle is slow, and continuing downhill at this speed will not be able to meet the driver's driving speed requirements. The driver's driving needs are determined based on the opening and change rate of the vehicle's accelerator pedal, and then the target recovery torque for coasting energy recovery is determined.

[0089] Among them, the acceleration intention can be divided into a relatively gentle acceleration process and a relatively violent acceleration process according to the intensity of acceleration; in the relatively gentle acceleration process, the vehicle speed changes relatively slowly. In this process, using a smaller target recovery torque for energy recovery has less effect on the vehicle acceleration process. At this time, the second preset torque can be directly used to continue gliding energy recovery; in the more violent acceleration process, the vehicle speed changes rapidly. At this time, continuing gliding energy recovery is likely to affect the increase in vehicle speed. In this case, the target recovery torque can be controlled to gradually decrease until it reaches zero so as not to affect the vehicle acceleration process.

[0090] In the embodiment of the present invention, in response to the vehicle's working condition satisfying the energy recovery condition, the vehicle's state is detected to confirm whether the vehicle is in a downhill state, and then when it is determined that the vehicle is in a downhill state according to the detection result, the vehicle's driving intention is determined according to the opening of the vehicle's accelerator pedal, and then different coasting energy recovery strategies are executed under different driving intentions; thus, when the vehicle's working condition satisfies the energy recovery condition, it is determined whether the driver intends to accelerate the vehicle or to coast the vehicle during the downhill process according to the opening of the vehicle's accelerator pedal, and then different energy recovery strategies are proposed according to the two different intentions; wherein, during the acceleration process, coasting energy recovery is performed according to the opening and change rate of the accelerator pedal to reduce the impact of coasting energy recovery on the vehicle speed increase during the vehicle acceleration process, and during the vehicle coasting process, the target recovery torque of the coasting energy recovery is adjusted according to the vehicle speed to avoid the situation where the vehicle speed is too high or too low due to the use of a fixed torque for coasting energy recovery, thereby reducing the impact of coasting energy recovery on the user's driving of the vehicle during the vehicle downhill process in the off-road mode.

[0091] In some embodiments, considering the characteristics of desert environment such as many sand dunes, easy skidding of vehicles and heavy vehicle load, the control method of coasting energy recovery of this embodiment is applied to coasting energy recovery under desert conditions. When driving in the desert, the tires need to be deflated to reduce the situation where the vehicle sinks into the sand. It can be determined whether the vehicle is in the desert driving condition by monitoring the tire pressure of the vehicle, and then determine whether to execute the corresponding energy recovery strategy.

[0092] The specific steps of determining whether the vehicle is in a sandy driving condition according to the tire pressure of the vehicle may include: obtaining a tire pressure value of the vehicle in response to the energy recovery condition corresponding to the off-road mode being met;

[0093] When the tire pressure value is less than a preset tire pressure value, detecting a state of the vehicle;

[0094] The method further comprises:

[0095] When the tire pressure value is greater than or equal to the preset tire pressure value, obtaining a first preset torque;

[0096] The first preset torque is determined as the target recovery torque; wherein the first preset torque is the recovery torque when the intensity level of the coasting energy recovery is a strong level.

[0097] In an embodiment of the present invention, when a vehicle is driving in a desert, it is necessary to deflate the tires to a pressure less than a fixed tire pressure value. The fixed tire pressure value can be used as a preset tire pressure value to determine whether the vehicle is in a desert driving condition, wherein a tire pressure value greater than or equal to the preset tire pressure value indicates that the tire pressure of the vehicle tire is a normal tire pressure value, which indicates that the vehicle is not in a desert driving condition; and a tire pressure value less than the preset tire pressure value indicates that the vehicle tire is less than the normal tire pressure and meets the tire pressure required for desert driving, which indicates that the vehicle is in a desert driving condition.

[0098] Among them, if it is in a desert driving condition, the energy recovery strategy of coasting energy recovery is further determined. If it is not in a desert driving condition, it means that the vehicle is driving on mud, snow and other road conditions. For this condition, the recovery torque with a strong intensity level of coasting energy recovery is used as the driving motor recovery torque to perform energy recovery, so that the vehicle can recover more energy in a short time.

[0099] Among them, the intensity of coasting energy recovery represents the deceleration of coasting energy recovery. The higher the deceleration, the stronger the coasting energy recovery intensity. The current vehicle coasting energy recovery is set at two levels: strong level and standard level. When the coasting energy recovery intensity is at the strong level, the vehicle recovers energy with a first preset torque. When the coasting energy recovery intensity is at the standard level, the vehicle recovers energy with a second preset torque. Among them, the greater the recovery torque, the greater the deceleration of the coasting energy recovery. The faster the vehicle decelerates, the first preset torque is greater than the second preset torque.

[0100] In some embodiments, step S103 specifically includes:

[0101] When the current opening is less than a first preset opening, determining that the driving intention is the coasting driving intention;

[0102] When the current opening is greater than or equal to the first preset opening, the driving intention is determined to be the acceleration driving intention.

[0103] The first preset opening represents the maximum throttle opening for coasting when the vehicle is in a downhill state. The specific value of the throttle opening can be obtained by calibrating the vehicle in a downhill state by simulating a sand scene. For example, if the preset throttle opening for coasting in a downhill state is determined to be 10%, it means that the vehicle will accelerate above the preset opening, and the vehicle will coast below the preset opening, and then determine whether the current throttle pedal opening of the vehicle is less than 10%; if it is less than 10%, it means that the vehicle will coast in the future, and the driving intention is determined to be the coasting intention; if it is greater than or equal to 10%, it means that the driver has a higher torque demand for the vehicle, that is, the vehicle needs to accelerate, and the driving intention is determined to be the acceleration intention.

[0104] In some embodiments, reference Figure 2 , Figure 2 The flow chart of the energy recovery strategy under the coasting driving intention is shown as follows: Figure 2 As shown, the strategy specifically includes:

[0105] Step S201, obtaining a first preset torque; wherein the first preset torque is a recovery torque when the strength level of the coasting energy recovery is a strong level.

[0106] Step S202: determining a torque adjustment coefficient based on the current vehicle speed.

[0107] The torque adjustment coefficient is used to adjust the fixed torque of the coasting energy recovery. By adjusting the vehicle speed, energy recovery can be performed quickly when the vehicle speed is fast, and coasting energy recovery can be performed slowly or coasting energy recovery can be exited when the vehicle speed is slow. Specifically, the torque adjustment coefficient is obtained by the following formula (1):

[0108]

[0109] Among them, μ is the torque adjustment coefficient, and V is the current speed of the vehicle.

[0110] Step S203: determining the target recovery torque based on the torque adjustment coefficient and the first preset torque.

[0111] Among them, when the vehicle is coasting, if the coasting energy recovery is directly performed with a fixed recovery torque, the vehicle may have a speed that is too slow or too fast after going downhill. Both situations will make it difficult for the driver to accurately control the vehicle in complex scenarios. Based on this, an embodiment of the present invention provides an energy recovery strategy that changes with the vehicle speed. When the vehicle is coasting, the recovery torque of the coasting energy recovery is adjusted according to the vehicle speed, the vehicle's recovery torque is increased when the vehicle speed is too fast, and the vehicle's recovery torque is reduced or even exited when the vehicle speed is too slow. The vehicle's coasting speed can be maintained within a certain speed range, which is convenient for the driver to grasp the vehicle speed and thus accurately control the vehicle.

[0112] Specifically, the recovery torque α of coasting energy recovery is calculated as follows:

[0113] α=μ×α 1 Formula (2);

[0114] Among them, α 1 represents the first preset torque, and μ represents the torque adjustment coefficient; thus, the target recovery torque of the coasting energy recovery is directly obtained according to the calculation formula, and the vehicle is controlled to perform the coasting energy recovery according to the target recovery torque.

[0115] In some embodiments, the acceleration driving intention includes a slow acceleration type acceleration driving intention and a fast acceleration type acceleration driving intention. The two different types of acceleration driving intention represent different torque requirements of the driver, and different target recovery torque determination methods need to be adopted. It is necessary to first determine the type of the acceleration driving intention, and then determine the target recovery torque acquisition method according to the type of the acceleration driving intention, which may specifically include the following process:

[0116] First, based on the current opening degree and / or the current change rate, the type of the acceleration driving intention is determined;

[0117] Wherein, when the type of the acceleration driving intention is the fast acceleration type, the target recovery torque is determined as a recovery torque that decreases from a first preset torque at a preset torque change rate; wherein the first preset torque is a recovery torque when the intensity level of the coasting energy recovery is a strong level;

[0118] Wherein, when the type of the acceleration driving intention is the slow acceleration type, the second preset torque is used as the target recovery torque to continuously perform energy recovery according to the target recovery torque; wherein, the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

[0119] Among them, if the driving intention is an acceleration driving intention of the fast acceleration type, then the opening of the accelerator pedal is large or the changing rate of the opening of the accelerator pedal is fast, indicating that the driver has a higher engine torque demand, that is, the vehicle needs to accelerate quickly, then the gliding energy recovery during the acceleration process will hinder the acceleration process of the vehicle. At this time, it is necessary to exit the gliding energy recovery. However, directly turning off the gliding energy recovery is not conducive to vehicle driving in off-road scenarios. The vehicle is controlled to start from the first preset torque and gradually decrease at the preset torque change rate until the gliding energy recovery is exited, so that in the initial stage of vehicle acceleration, part of the gravitational potential energy is still converted into electrical energy during the downhill process of the vehicle, and gliding energy recovery is not performed in the subsequent process to avoid affecting the vehicle speed.

[0120] If the driving intention is a slow acceleration type of acceleration driving intention, the opening of the accelerator pedal is relatively small and the rate of change of the opening of the accelerator pedal is slow, indicating that the driver judges that the vehicle needs to accelerate, but the acceleration demand is not high. In the acceleration process, the coasting energy recovery has little effect on the vehicle speed increase, and coasting energy recovery can be performed. However, considering that a strong coasting energy recovery intensity level will cause the vehicle to decelerate too much, making it difficult for the vehicle to slowly accelerate to the speed required by the driver, the recovery torque of the coasting energy recovery is set to the second preset torque, that is, the recovery torque when the coasting energy recovery intensity level is the standard level. Under this torque, energy recovery can be achieved while avoiding affecting the vehicle speed.

[0121] The method for determining the type of acceleration intention specifically includes:

[0122] When the current opening is greater than or equal to a first preset opening and less than a second preset opening, comparing the current change rate with the preset change rate; wherein the first preset opening is less than the second preset opening;

[0123] If the current change rate is less than or equal to the preset change rate, determining the type of the acceleration driving intention is the slow acceleration type;

[0124] If the current rate of change is greater than the preset rate of change, determining that the type of the acceleration driving intention is the fast acceleration type;

[0125] When the current opening is greater than or equal to the second preset opening, the type of the acceleration driving intention is determined to be the fast acceleration type.

[0126] In an embodiment of the present invention, the type of acceleration intention is determined by whether the current opening of the accelerator pedal is less than a second preset opening. If the current opening is greater than or equal to the second preset opening, it indicates that the acceleration driving intention is a fast acceleration driving intention. If the current opening is less than the second preset opening, it is necessary to further determine whether the acceleration type is a slow acceleration type or a fast acceleration type based on the change rate of the accelerator pedal. If the change rate is greater than the preset change rate, it indicates that the change rate of the accelerator pedal is faster. At this time, the driving intention is an acceleration driving intention of the fast acceleration type. If the change rate is less than or equal to the preset change rate, it indicates that the change rate of the accelerator pedal is slower, and the driving intention is a slow acceleration type.

[0127] The embodiment of the present invention divides the acceleration type into two categories by using the accelerator pedal opening and the rate of change of the accelerator pedal opening, and then adopts different gliding energy recovery strategies for the two types of driving intentions with different acceleration types; under the driving intentions of different acceleration types, gliding energy recovery is performed as much as possible, and at the same time, the impact of gliding energy recovery on the vehicle speed increase is reduced.

[0128] In some embodiments, different driving modes of the vehicle correspond to different energy recovery conditions, and it is necessary to first determine the driving mode of the vehicle, and according to different driving modes, use different energy recovery conditions to determine whether the vehicle needs to perform coasting energy recovery.

[0129] Specifically, the driving mode of the vehicle includes an off-road mode and a non-off-road mode; in the off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a first preset SOC value; in the non-off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a second preset SOC value; wherein the first preset SOC value is greater than the second preset SOC value.

[0130] In the embodiment of the present invention, considering that in the off-road mode, there are situations such as a heavy vehicle load and a rough road surface, so that the energy consumed to maintain the same driving speed is greater than that of driving on a normal road, it is necessary to make the battery have a longer battery life to cope with the harsh environment of the off-road mode, and then when the vehicle is in the off-road mode, the SOC value of the vehicle's coasting energy recovery is set to a first preset SOC value, and in the non-off-road mode, the SOC value of the vehicle's coasting energy recovery is set to a second preset SOC value, wherein the first preset SOC value is greater than the second SOC value. As a result, when the vehicle is in the off-road mode, charging begins at a relatively high remaining power, so that the vehicle can always maintain a relatively high power to support the vehicle's ability to travel for a long time under complex road conditions. Among them, both the first preset SOC value and the second preset SOC value can be obtained through calibration.

[0131] In some embodiments, considering that the off-road mode needs to have not only a longer driving time but also the ability to quickly recover energy, it is necessary to determine an idle charging engine speed for the off-road mode that is different from that for the non-off-road mode so that the power can be replenished quickly.

[0132] Specifically, in different driving modes, when executing the energy recovery strategy, the method further includes:

[0133] When the driving mode of the vehicle is the off-road mode, setting the engine speed of the vehicle during idling charging to a first preset speed;

[0134] When the driving mode of the vehicle is the non-off-road mode, setting the engine speed of the vehicle during idling charging to a second preset speed;

[0135] Wherein, the first preset speed is higher than the second preset speed.

[0136] In an embodiment of the present invention, by setting the engine speed of the vehicle idling charging in off-road mode to be higher than the engine speed of the vehicle idling charging in non-off-road mode, the vehicle can be maintained in a high-efficiency charging state in off-road mode, and the battery can be quickly replenished, thereby improving the battery life.

[0137] In some embodiments, if the slope is relatively gentle, it is difficult to perform coasting energy recovery while maintaining the vehicle speed. In this case, the slope value may be determined first, and whether to perform coasting energy recovery may be determined based on the slope value. Specifically, when the vehicle is in a downhill state, the accelerator pedal opening and the accelerator pedal change rate of the vehicle are obtained, including:

[0138] When the vehicle is in a downhill state, detecting the slope of the position where the vehicle is located;

[0139] When the slope is greater than or equal to a preset slope, obtaining the accelerator pedal opening and accelerator pedal change rate of the vehicle;

[0140] The method further comprises:

[0141] When the slope is less than the preset slope, the coasting energy recovery is turned off.

[0142] Among them, the preset slope can be a calibrated slope value at which the vehicle speed changes less under this condition. At this slope, the vehicle's gliding energy recovery will cause the vehicle to slow down and it will be difficult to meet the vehicle's driving needs.

[0143] Specifically, it is possible to first determine whether the vehicle is in a tilted state based on vehicle sensors, such as a horizontal gyroscope. If it is in a tilted state, obtain the height difference between the calibration points at the front and rear of the vehicle, and determine the slope value of the downhill slope where the vehicle is located based on the height difference and the horizontal distance; wherein the calibration points at the front and rear of the vehicle may be pre-set points at the front and rear of the vehicle, and the line between the two points is parallel to the horizontal ground.

[0144] The energy recovery control method provided by the embodiment of the present invention improves the efficiency of the vehicle's coasting energy recovery while avoiding affecting the user's driving experience by formulating a targeted coasting energy recovery strategy according to different driving intentions of the vehicle in the downhill state when the vehicle is in a downhill state. When going downhill, different energy recovery strategies are formulated according to different vehicle driving intentions, so that when the vehicle is in a coasting driving intention, a slow acceleration type acceleration driving intention, and a fast acceleration type acceleration driving intention, the vehicle will not be affected when recovering energy, thereby reducing the difficulty of vehicle driving in off-road conditions. In addition, the embodiment of the present invention improves the efficiency of energy recovery in off-road conditions and the battery life by increasing the charging threshold of the vehicle SOC and the battery charging efficiency, thereby ensuring driving safety.

[0145] Reference Figure 3 , Figure 3 The control logic diagram of the energy recovery control method provided by the embodiment of the present invention is shown as follows: Figure 3 As shown, taking the vehicle in the desert scene as an example, first, the driving mode of the vehicle is obtained. If the vehicle is in the non-off-road mode, then in response to the satisfaction of the energy recovery conditions of the non-off-road mode, that is, when the vehicle SOC value is lower than 70%, gliding energy recovery is performed.

[0146] If the vehicle is in the off-road mode, in response to the satisfaction of the energy recovery condition of the off-road mode, that is, when the vehicle SOC value is lower than 80%, the coasting energy recovery is performed. If the energy recovery strategy of the embodiment of the present invention is applied to any driving mode, further judgment is directly performed. If the energy recovery strategy of the embodiment of the present invention is only applied to the desert scene, considering that the desert scene is only one of the off-road modes, it is determined whether the current off-road mode is the off-road mode of the desert scene. At this time, the current driving scene is determined by monitoring the tire pressure of the vehicle: whether the tire pressure of the vehicle is less than 1.5 bar is detected. If it is greater than or equal to 1.5 bar, it means that the vehicle is in the off-road mode of non-desert working conditions. At this time, the vehicle is controlled to perform coasting energy recovery according to the first preset torque; if it is less than 1.5 bar, it means that the vehicle is in the off-road mode of desert working conditions. At this time, the slope of the vehicle is detected. If the slope of the vehicle is detected to be less than 10°, it means that energy recovery at this time may affect the normal driving of the vehicle, so the coasting energy recovery is exited.

[0147] If it is detected that the vehicle's slope is greater than or equal to 10°, it is determined that the vehicle is in a downhill state and can perform gliding energy recovery. At this time, the opening of the vehicle's accelerator pedal is obtained through the sensor, and the rate of change of the opening of the vehicle's accelerator pedal is determined based on the current opening and time.

[0148] When it is detected that the accelerator pedal opening of the vehicle is less than 10%, it is determined that the vehicle is coasting. At this time, the target recovery torque of the coasting energy recovery is determined according to formula (2).

[0149] When it is detected that the vehicle's accelerator pedal opening is between 10% and 50% and the accelerator pedal change rate is less than 30%, it is determined that the vehicle's driving intention is an acceleration driving intention of a slow acceleration type, and the second preset torque is determined as the target recovery torque.

[0150] When it is detected that the accelerator pedal opening of the vehicle is between 10% and 50% and the rate of change of the accelerator pedal is greater than or equal to 30%, or when the accelerator pedal opening of the vehicle is greater than 50%, it is determined that the vehicle's driving intention is an acceleration driving intention of a fast acceleration type. At this time, the first preset torque is used as the initial recovery torque, and the initial torque is reduced at a rate of 50N·m / s until the coasting energy recovery is exited.

[0151] Among them, during the gliding energy recovery process, if the vehicle is in off-road mode, the engine speed of the vehicle's idle charging is set to a first preset speed, such as an engine speed of 3000rpm, to improve the charging efficiency in off-road mode; and if the vehicle is in non-off-road mode, the engine speed of the vehicle's idle charging is set to a second preset speed, such as an engine speed of 1200rpm, to fully consider the driver's comfort in driving the vehicle.

[0152] Based on the same inventive concept, Figure 4 , Figure 4 FIG. 4 is a schematic diagram showing a structure of an energy recovery control device provided by an embodiment of the present invention. Figure 4 As shown, the device specifically includes:

[0153] A detection module 401 is used to detect the state of the vehicle in response to the operating condition of the vehicle satisfying the energy recovery condition; wherein the energy recovery condition is used to determine whether the vehicle performs coasting energy recovery;

[0154] An acquisition module 402 is used to acquire the current opening degree and current change rate of the accelerator pedal of the vehicle when the vehicle is in a downhill state;

[0155] A determination module 403 is used to determine the driving intention of the vehicle based on the current opening; wherein the driving intention includes a coasting driving intention and an accelerating driving intention;

[0156] An energy recovery module 404, used to trigger an energy recovery strategy corresponding to the driving intention to perform energy recovery;

[0157] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed of the vehicle; wherein the target recovery torque is the recovery torque of the driving motor when the vehicle performs the coasting energy recovery;

[0158] The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and the current change rate.

[0159] The embodiment of the present invention detects the state of the vehicle in response to the operating condition of the vehicle satisfying the energy recovery condition, and determines the driving intention of the vehicle according to the opening of the vehicle's accelerator pedal when the vehicle is in a downhill state, and then executes different coasting energy recovery strategies under different driving intentions; thereby, when the vehicle is in a downhill state, it is determined whether the driver intends to accelerate the vehicle or to coast the vehicle during the downhill process according to the opening of the vehicle's accelerator pedal, and then different energy recovery strategies are proposed according to the two different intentions; wherein, during the acceleration process, coasting energy recovery is performed according to the opening and change rate of the accelerator pedal to reduce the impact of coasting energy recovery on the increase of vehicle speed during the acceleration process of the vehicle, and during the coasting process of the vehicle, the target recovery torque of the coasting energy recovery is adjusted according to the vehicle speed to avoid the situation where the vehicle speed is too high or too low due to the use of a fixed torque for coasting energy recovery, thereby reducing the impact of coasting energy recovery on the user's driving of the vehicle during the downhill process of the vehicle.

[0160] In some feasible embodiments, the determining module 403 includes:

[0161] A first determining submodule, configured to determine that the driving intention is the coasting driving intention when the current opening is less than a first preset opening;

[0162] The second determination submodule is used to determine that the driving intention is the acceleration driving intention when the current opening is greater than or equal to the first preset opening.

[0163] In some feasible embodiments, the energy recovery module 404 includes:

[0164] A first acquisition submodule is used to acquire a first preset torque; wherein the first preset torque is a recovery torque when the strength level of the coasting energy recovery is a strong level;

[0165] A third determination submodule, configured to determine a torque adjustment coefficient based on the current vehicle speed;

[0166] The fourth determination submodule is configured to determine the target recovery torque based on the torque adjustment coefficient and the first preset torque.

[0167] In some feasible embodiments, the acceleration driving intention includes a slow acceleration type and a fast acceleration type, and the energy recovery module 404 includes:

[0168] a fifth determination submodule, configured to determine the type of the acceleration driving intention based on the current opening degree and / or the current change rate;

[0169] a sixth determination submodule, configured to determine, when the type of the acceleration driving intention is the fast acceleration type, the target recovery torque as a recovery torque that decreases from a first preset torque at a preset torque change rate; wherein the first preset torque is a recovery torque when the strength level of the coasting energy recovery is a strong level;

[0170] The seventh determination submodule is used to use the second preset torque as the target recovery torque when the type of the acceleration driving intention is the slow acceleration type, so as to continuously perform energy recovery according to the target recovery torque; wherein the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

[0171] In some feasible embodiments, the acquisition module 402 includes:

[0172] A first detection submodule, configured to detect the slope of the position of the vehicle when the vehicle is in a downhill state;

[0173] A third acquisition submodule, configured to acquire the accelerator pedal opening and the accelerator pedal change rate of the vehicle when the slope is greater than or equal to a preset slope;

[0174] The first control module is used to turn off the coasting energy recovery when the slope is less than the preset slope.

[0175] In some feasible embodiments, the driving mode of the vehicle includes an off-road mode and a non-off-road mode;

[0176] In the off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a first preset SOC value;

[0177] In the non-off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a second preset SOC value;

[0178] Wherein, the first preset SOC value is greater than the second preset SOC value.

[0179] In some feasible embodiments, the device further comprises:

[0180] a third control module, configured to set the engine speed of the vehicle during idle charging to a first preset speed when the driving mode of the vehicle is an off-road mode;

[0181] a fourth control module, configured to set the engine speed of the vehicle during idle charging to a second preset speed when the driving mode of the vehicle is a non-off-road mode;

[0182] Wherein, the first preset speed is higher than the second preset speed.

[0183] Based on the same inventive concept, an embodiment of the present invention further provides a vehicle, the vehicle comprising a control unit, the control unit being configured to execute the energy recovery control method described in any of the above embodiments.

[0184] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0185] For the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the order of the actions described, because according to the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and components involved are not necessarily required by the present invention.

[0186] The above is a detailed introduction to the energy recovery control method, device and vehicle provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control method for energy recovery, It is characterized in that The method comprises: In response to the operating condition of the vehicle satisfying an energy recovery condition, detecting the state of the vehicle; wherein the energy recovery condition represents the operating condition of the vehicle performing coasting energy recovery; When the vehicle is in a downhill state, obtaining a current opening degree and a current change rate of an accelerator pedal of the vehicle; Based on the current opening degree, determining the driving intention of the vehicle; wherein the driving intention includes a coasting driving intention and an accelerating driving intention; triggering an energy recovery strategy corresponding to the driving intention to perform energy recovery; The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed of the vehicle; wherein the target recovery torque is the recovery torque of the driving motor when the vehicle performs the coasting energy recovery; The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and / or the current change rate.

2. The energy recovery control method according to claim 1, It is characterized in that The determining the driving intention of the vehicle based on the current opening degree includes: When the current opening is less than a first preset opening, determining that the driving intention is the coasting driving intention; When the current opening is greater than or equal to the first preset opening, the driving intention is determined to be the acceleration driving intention.

3. The energy recovery control method according to claim 1, It is characterized in that The determining the target recovery torque based on the current vehicle speed includes: Obtaining a first preset torque; wherein the first preset torque is a recovery torque when the strength level of the coasting energy recovery is a strong level; determining a torque adjustment factor based on the current vehicle speed; The target recovery torque is determined based on the torque adjustment coefficient and the first preset torque.

4. The energy recovery control method according to claim 1, It is characterized in that The acceleration driving intention includes a slow acceleration type and a fast acceleration type; The determining the target recovery torque based on the current opening degree and / or the current change rate includes: determining the type of the acceleration driving intention based on the current opening degree and / or the current change rate; In the case where the type of the acceleration driving intention is the fast acceleration type, the target recovery torque is determined as a recovery torque that decreases from a first preset torque at a preset torque change rate; wherein the first preset torque is a recovery torque when the intensity level of the coasting energy recovery is a strong level; When the type of the acceleration driving intention is the slow acceleration type, the second preset torque is used as the target recovery torque to continuously perform energy recovery according to the target recovery torque; wherein the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

5. The energy recovery control method according to claim 4, It is characterized in that Determining the type of the acceleration driving intention based on the current opening degree and / or the current change rate includes: When the current opening is greater than or equal to a first preset opening and less than a second preset opening, comparing the current change rate with the preset change rate; wherein the first preset opening is less than the second preset opening; If the current change rate is less than or equal to the preset change rate, determining the type of the acceleration driving intention is the slow acceleration type; If the current rate of change is greater than the preset rate of change, determining that the type of the acceleration driving intention is the fast acceleration type; When the current opening is greater than or equal to the second preset opening, the type of the acceleration driving intention is determined to be the fast acceleration type.

6. The energy recovery control method according to claim 1, It is characterized in that When the vehicle is in a downhill state, obtaining the accelerator pedal opening and the accelerator pedal change rate of the vehicle includes: When the vehicle is in a downhill state, detecting the slope of the position where the vehicle is located; When the slope is greater than or equal to a preset slope, obtaining the accelerator pedal opening and accelerator pedal change rate of the vehicle; The method further comprises: When the slope is less than the preset slope, the coasting energy recovery is turned off.

7. The energy recovery control method according to claim 1, It is characterized in that The driving mode of the vehicle includes an off-road mode and a non-off-road mode; In the off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a first preset SOC value; In the non-off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a second preset SOC value; Wherein, the first preset SOC value is greater than the second preset SOC value.

8. The energy recovery control method according to claim 7, It is characterized in that The method further comprises: When the driving mode of the vehicle is the off-road mode, setting the engine speed of the vehicle during idling charging to a first preset speed; When the driving mode of the vehicle is the non-off-road mode, setting the engine speed of the vehicle during idling charging to a second preset speed; Wherein, the first preset speed is higher than the second preset speed.

9. A control device for energy recovery, It is characterized in that The device comprises: A detection module, configured to detect a state of the vehicle in response to the operating condition of the vehicle satisfying an energy recovery condition; wherein the energy recovery condition represents an operating condition of the vehicle for coasting energy recovery; An acquisition module, used for acquiring a current opening degree and a current change rate of an accelerator pedal of the vehicle when the vehicle is in a downhill state; A determination module, configured to determine the driving intention of the vehicle based on the current opening; wherein the driving intention includes a coasting driving intention and an accelerating driving intention; An energy recovery module is used to trigger an energy recovery strategy corresponding to the driving intention to perform energy recovery; wherein, the energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed; wherein, the target recovery torque is the recovery torque of the drive motor when the vehicle performs the coasting energy recovery; the energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening and the current change rate.

10. A vehicle, It is characterized in that The vehicle comprises a control unit, and the control unit is used to execute the energy recovery control method described in any one of claims 1-8 above.

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