A control method, device and vehicle for energy recovery

Abstract

This invention provides a control method, device, and vehicle for energy recovery, belonging to the field of vehicle technology. It aims to provide an energy recovery strategy for downhill driving to improve driving comfort. The method includes: detecting the vehicle's state in response to the vehicle's operating conditions meeting energy recovery conditions; acquiring the current opening and rate of change of the accelerator pedal when the vehicle is downhill; determining the vehicle's driving intention based on the current opening; and triggering an energy recovery strategy corresponding to the driving intention to recover energy. The energy recovery strategy corresponding to a coasting driving intention includes determining a target recovery torque based on the vehicle's current speed; the energy recovery strategy corresponding to an acceleration driving intention includes determining a target recovery torque based on the current opening and / or the current rate of change.

Description

Technical Field

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

[0002] New energy vehicles are characterized by fast torque response and low energy loss. This low energy loss primarily relies on the energy recovery system to recover energy during braking or coasting. Specifically, when driving on ordinary roads, the driver does not need to press the accelerator pedal, which is considered as the driver having no torque drive requirement, thus allowing for coasting energy recovery.

[0003] However, current vehicles use a fixed energy recovery strategy, which results in 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 provide an energy recovery control method, device and vehicle to solve the problem that the current vehicles adopt a fixed energy recovery strategy, which leads to low energy recovery efficiency and affects the user's driving experience.

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

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

[0007] In response to the vehicle's operating conditions meeting the energy recovery conditions, the state of the vehicle is detected; wherein, the energy recovery conditions characterize the operating conditions under which the vehicle performs coasting energy recovery;

[0008] When the vehicle is going downhill, obtain the current opening degree and current rate of change of the accelerator pedal of the vehicle;

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

[0010] Trigger the energy recovery strategy corresponding to the driving intention to recover energy;

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

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

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

[0014] If the current opening is less than the first preset opening, the driving intention is determined to be the coasting driving intention;

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

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

[0017] Obtain a first preset torque; wherein, the first preset torque is the recovery torque when the intensity level of gliding energy recovery is strong;

[0018] Based on the current vehicle speed, determine the torque adjustment coefficient;

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

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

[0021] The type of acceleration intention is determined based on the current opening degree and / or the current rate of change.

[0022] When the type of acceleration intention is the fast acceleration type, the target recovery torque is determined as the recovery torque that decreases from a first preset torque according to a preset torque change rate; wherein, the first preset torque is the recovery torque when the intensity level of coasting energy recovery is strong.

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

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

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

[0026] If the current rate of change is less than or equal to the preset rate of change, the type of the acceleration intention is determined to be the slow acceleration type.

[0027] If the current rate of change is greater than the preset rate of change, the type of the acceleration intention is determined to be the fast acceleration type;

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

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

[0030] When the vehicle is going downhill, the slope of the vehicle's location is detected;

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

[0032] The method further includes:

[0033] If the slope is less than the preset slope, the gliding energy recovery is turned off.

[0034] Furthermore, the vehicle's driving modes include off-road mode and non-off-road mode. In the off-road mode, the energy recovery condition is that the vehicle's SOC value does not reach a first preset SOC value.

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

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

[0037] Furthermore, the method also includes:

[0038] When the vehicle's driving mode is the off-road mode, the engine speed of the vehicle during idling charging is set to a first preset speed.

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

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

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

[0042] This invention provides an energy recovery control method, which detects the vehicle's state in response to the vehicle's operating conditions meeting energy recovery conditions; wherein, the energy recovery conditions characterize the operating conditions under which the vehicle performs coasting energy recovery; when the vehicle is in a downhill state, the current opening degree and current rate of change of the vehicle's accelerator pedal are acquired; based on the current opening degree, the vehicle's driving intention is determined; wherein, the driving intention includes coasting driving intention and acceleration driving intention; an energy recovery strategy corresponding to the driving intention is triggered to perform energy recovery; wherein, the energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the vehicle's current speed; wherein, the target recovery torque is the recovery torque of the drive motor when the vehicle performs 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 rate of change;

[0043] Therefore, this invention provides different energy recovery strategies based on the vehicle's driving intention when it is going downhill, provided that the vehicle meets the conditions for coasting energy recovery. This allows coasting energy recovery during downhill driving to be applied to different driving intentions, improving energy recovery efficiency without affecting the user's driving experience. When the vehicle's driving intention is to coast, the recovery torque of coasting energy recovery is adjusted according to the vehicle's current speed to ensure energy recovery while preventing the vehicle from decelerating too quickly. When the vehicle's driving intention is to accelerate, a corresponding coasting energy recovery strategy is formulated based on the opening and rate of change of the accelerator pedal. This reduces the impact of coasting energy recovery on vehicle speed increase during acceleration, improving driving comfort in off-road scenarios.

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

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

[0046] An energy recovery control device, the device comprising:

[0047] The detection module is used to detect the state of the vehicle in response to the vehicle's operating conditions meeting the energy recovery conditions; wherein, the energy recovery conditions characterize the operating conditions under which the vehicle performs coasting energy recovery.

[0048] The acquisition module is used to acquire the current opening degree and current rate of change of the accelerator pedal of the vehicle when the vehicle is in a downhill state;

[0049] The first determining module is used to determine the driving intention of the vehicle based on the current opening degree; wherein the driving intention includes a coasting driving intention and an acceleration driving intention;

[0050] An energy recovery module is used to trigger an energy recovery strategy corresponding to the driving intention in order to recover energy.

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

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

[0053] The energy recovery control device and the energy recovery control method described above have the same advantages over the prior art, and will not be elaborated here.

[0054] Another objective of this invention is to provide a vehicle that addresses the problem that current vehicles employ fixed energy recovery strategies, resulting in low energy recovery efficiency and negatively impacting the user's driving experience.

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

[0056] A vehicle includes a control unit for performing the above-described coasting energy recovery control method.

[0057] The vehicle described above has the same advantages over existing technologies as the energy recovery control method described above, and will not be elaborated here. Attached Figure Description

[0058] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0059] Figure 1 A flowchart illustrating the steps of the energy recovery control method provided in this embodiment of the invention;

[0060] Figure 2 This is a flowchart illustrating the steps of the energy recovery strategy corresponding to the gliding driving intention provided in an embodiment of the present invention.

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

[0062] Figure 4This is a schematic diagram of the energy recovery control device provided in an embodiment of the present invention. Detailed Implementation

[0063] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

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

[0065] In related technologies, new energy vehicles include energy recovery systems that minimize energy loss through coasting energy recovery, braking energy recovery, and creeping energy recovery. Coasting energy recovery utilizes the vehicle's own kinetic energy to rotate the wheels, thereby driving the drive motor to recover energy when the driver does not require driving torque. The recovery torque of the drive motor determines the amount of energy recovered. Coasting energy recovery includes weak, standard, and strong levels. Drivers can adjust the coasting energy recovery according to their driving habits. For example, if the driver selects the standard level of coasting energy recovery, the system checks whether the vehicle meets the conditions for coasting energy recovery during driving. If the vehicle's remaining battery power is below a certain value and the brake and accelerator pedals are not activated, then the recovery torque corresponding to the standard level is determined for coasting energy recovery. During coasting, the drive motor is controlled to recover coasting energy at this torque. If the recovery torque needs to be adjusted, the driver must actively adjust the coasting energy recovery level, thereby adjusting the recovery torque.

[0066] However, the current coasting energy recovery is relatively fixed, usually based on the energy recovery strategy manually selected by the driver. It is difficult to flexibly change according to the vehicle's driving direction, especially when going downhill. When the vehicle's driving direction changes, coasting energy recovery can only be turned off, resulting in some energy not being recovered and low energy recovery efficiency. At the same time, using a fixed recovery torque for coasting energy recovery can easily lead to a significant or insufficient reduction in vehicle speed, requiring the driver to trigger the brake pedal or press the accelerator pedal to accelerate, which affects the user's driving experience.

[0067] For example, in off-road scenarios, vehicles may face complex situations such as continuous uphill and downhill slopes and slippery surfaces. In such cases, if a fixed energy recovery strategy is used for coasting energy recovery in related technologies, the drive motor will recover energy with a fixed recovery torque regardless of whether the driver's intention is to accelerate or coast. This can hinder the driver's precise control of the vehicle and make it difficult to drive safely in complex situations. On the other hand, if coasting 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 can easily lead to a decrease in the vehicle's range.

[0068] In view of this, embodiments of the present invention provide an energy recovery control method, device, and vehicle. By specifying different energy recovery strategies according to the vehicle's driving intention when the vehicle is going downhill, the energy recovery can be adapted to various complex downhill situations. Furthermore, while ensuring energy recovery, the impact of coasting energy recovery on the driver's driving is avoided, improving driving comfort. Thus, the present invention formulates different energy recovery strategies according to different driving intentions of the driver. When the driver intends to coast, the torque of coasting energy recovery is controlled according to the vehicle speed, keeping the vehicle speed within a certain range to support safe driving in complex situations. When the driver intends to accelerate, the torque of coasting energy recovery is adjusted according to the degree of acceleration, reducing the impact of coasting energy recovery on vehicle acceleration while recovering some energy to improve the vehicle's range. Therefore, while achieving coasting energy recovery, it also facilitates precise speed control for the driver.

[0069] Reference Figure 1 , Figure 1 A flowchart illustrating the steps of the energy recovery control method provided in an embodiment of the present invention is shown, as follows: Figure 1 As shown, the method specifically includes:

[0070] Step S101: In response to the vehicle's operating conditions meeting the energy recovery conditions, the state of the vehicle is detected.

[0071] The energy recovery conditions represent the operating conditions under which the vehicle performs coasting energy recovery; for example, the state of the accelerator pedal or the brake pedal is obtained, and it is determined that the vehicle can perform coasting energy recovery when neither of them is in operation; or the remaining battery power of the vehicle is judged, and if it is less than a preset battery power value, it means that it needs to perform energy recovery.

[0072] In this embodiment of the invention, considering that the vehicle needs a battery with good range in off-road mode, the energy recovery conditions can be distinguished between off-road mode and non-off-road mode. In off-road mode, energy recovery is performed at a higher battery SOC (State-of-Charge) value, while in non-off-road mode, energy recovery can be performed at a lower battery SOC value. Therefore, if the vehicle is in off-road mode, the energy recovery conditions for off-road mode are used to determine whether to perform energy recovery; if the vehicle is in non-off-road mode, the energy recovery conditions for non-off-road mode are used to determine whether to perform energy recovery.

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

[0074] Understandably, the road conditions differ between off-road and non-off-road modes. In off-road mode, the road conditions are more complex. For example, driving in the desert involves numerous sand dunes, slippery conditions, and heavy loads. Ordinary coasting energy recovery conditions are insufficient for desert driving. Therefore, the State of Charge (SOC) value used to determine whether to recharge is increased, ensuring sufficient battery power to support vehicle operation in complex conditions. In this scenario, the vehicle's driving mode is first determined, and then the corresponding energy recovery conditions are used as the criteria for deciding whether to perform energy recovery.

[0075] Specifically, when the vehicle's operating conditions meet the energy recovery conditions, the vehicle's status is detected to determine whether coasting energy recovery needs to be turned off, based on whether the vehicle is on a downhill slope. The energy recovery conditions can be that the vehicle's State of Charge (SOC) is below a preset value and the vehicle is not under braking. After determining that coasting energy recovery can be performed, the vehicle is checked for a downhill slope. If it is not on a downhill slope, it means the vehicle is traveling on a flat road, and energy recovery is not performed to avoid requiring the vehicle to increase throttle to maintain speed. If it is on a downhill slope, it means that some energy can be converted from potential energy to kinetic energy, and then to electrical energy, in which case coasting energy recovery is determined to be possible.

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

[0077] Whether a vehicle is going downhill can be detected by components such as gyroscopes or level sensors. Based on the detection results, it can be determined whether the vehicle is in a level position. The vehicle's status 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 level 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 going downhill.

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

[0079] Specifically, when the vehicle is detected to be going downhill, the driver's driving intention is determined by the change in the opening degree and the rate of change of the accelerator pedal, that is, whether the driver needs the vehicle to accelerate. Based on the driving intention, a specific energy recovery strategy is determined.

[0080] In this embodiment of the invention, the change in the accelerator pedal opening can be directly monitored by a sensor, and the rate of change of the accelerator pedal opening can be obtained based on the change time.

[0081] Step S103: Determine the vehicle's driving intention based on the current opening degree.

[0082] The driving intention includes coasting intention and acceleration intention. Coasting intention indicates that the vehicle will continue to drive by coasting, while acceleration intention indicates that the vehicle will continue to drive by accelerating. The opening of the accelerator pedal determines whether the vehicle accelerates. Therefore, the opening of the accelerator pedal can be used to determine whether the vehicle will accelerate, and thus determine whether the vehicle's driving intention is coasting or acceleration.

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

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

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

[0086] Specifically, after determining the vehicle's driving intention, a corresponding energy recovery strategy can be triggered based on that intention to recover coasting energy. The coasting energy recovery process involves converting part of the vehicle's potential energy during downhill driving into kinetic energy. This kinetic energy is then partially converted into energy to propel the vehicle and partially converted into electrical energy. The amount of electrical energy converted depends on the recovery torque of the drive motor; therefore, the energy recovery strategy is controlled by adjusting the recovery torque.

[0087] If the driving intention is coasting, it means the vehicle is going downhill by coasting. At this time, the vehicle's current speed is detected to recover coasting energy based on the speed. Specifically, if the vehicle speed is high, the recovered torque is large to prevent the vehicle speed from becoming too high afterward. If the vehicle speed is low, the recovered torque is small to prevent the vehicle speed from becoming too low afterward. Thus, by controlling the vehicle speed to control the target recovered torque, the vehicle speed is regulated to avoid the loss of some recoverable energy due to excessive speed after going downhill, and also to avoid the situation where the vehicle needs to accelerate again due to excessively slow speed after going downhill.

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

[0089] The acceleration intention can be divided into a relatively gentle acceleration process and a relatively violent acceleration process based on the degree of acceleration. In the relatively gentle acceleration process, the vehicle speed changes slowly. In this process, using a smaller target recovery torque for energy recovery has little impact on the vehicle acceleration process. At this time, the second preset torque can be used directly to continue coasting energy recovery. However, in the relatively violent acceleration process, the vehicle speed changes rapidly. At this time, continuing coasting energy recovery may affect the increase in vehicle speed. Therefore, the target recovery torque can be controlled to gradually decrease until it reaches zero, so as not to affect the vehicle acceleration process.

[0090] This invention, in response to the vehicle's operating conditions meeting energy recovery conditions, detects the vehicle's state to confirm whether it is in a downhill state. Based on the detection results, when the vehicle is in a downhill state, the driving intention is determined according to the accelerator pedal opening. Different coasting energy recovery strategies are then implemented based on these different intentions. Thus, by determining whether the driver intends to accelerate or coast during the downhill process based on the accelerator pedal opening when the vehicle's operating conditions meet energy recovery conditions, different energy recovery strategies are proposed based on these two different intentions. Specifically, during acceleration, coasting energy recovery is performed based on the accelerator pedal opening and rate of change, reducing the impact of coasting energy recovery on vehicle speed increase during acceleration. During coasting, the target recovery torque is adjusted according to the vehicle speed to avoid situations where a fixed torque leads to excessively high or low vehicle speeds. Therefore, in off-road mode, the impact of coasting energy recovery on the user's driving is reduced during downhill driving.

[0091] In some embodiments, considering the characteristics of desert environments such as numerous sand dunes, easy vehicle slippage, and heavy vehicle loads, the gliding energy recovery control method of this embodiment is applied specifically to gliding energy recovery under desert conditions. Specifically, when driving in the desert, tires need to be deflated to reduce the likelihood of the vehicle getting stuck in the sand. Therefore, monitoring the vehicle's tire pressure can determine whether the vehicle is in desert driving conditions, and thus determine whether to implement the corresponding energy recovery strategy.

[0092] The specific steps for determining whether a vehicle is in a sand driving condition based on its tire pressure may include: obtaining the tire pressure value of the vehicle in response to the satisfaction of the energy recovery conditions corresponding to the off-road mode.

[0093] If the tire pressure value is lower than the preset tire pressure value, the state of the vehicle is detected;

[0094] The method further includes:

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

[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 gliding energy recovery is strong.

[0097] In this embodiment of the invention, when a vehicle is driving in the desert, the tires need to be deflated to a fixed tire pressure value. This fixed tire pressure value can be used as a preset tire pressure value to determine whether the vehicle is in desert driving conditions. A tire pressure value greater than or equal to the preset tire pressure value indicates that the tire pressure of the vehicle's tires is normal, which means that the vehicle is not in desert driving conditions. Conversely, a tire pressure value less than the preset tire pressure value indicates that the tire pressure of the vehicle's tires is less than normal but meets the tire pressure required for desert driving, which means that the vehicle is in desert driving conditions.

[0098] If the vehicle is in a desert driving condition, the energy recovery strategy for coasting energy recovery will be further determined. If the vehicle is not in a desert driving condition, it means that the vehicle is driving on mud, snow or other road conditions. In this case, the recovery torque of the coasting energy recovery intensity level is set to the strong level as the recovery torque of the drive motor to recover energy, so that the vehicle can recover more energy in a short time.

[0099] 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 to 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. The greater the recovery torque, the greater the deceleration of coasting energy recovery. The faster the vehicle decelerates, the greater the first preset torque is than the second preset torque.

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

[0101] If the current opening is less than the first preset opening, the driving intention is determined to be the coasting driving intention;

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

[0103] The first preset throttle opening represents the maximum throttle opening for coasting when the vehicle is on a downhill slope. This specific value can be calibrated by simulating a sandy terrain scenario where the vehicle is on a downhill slope. For example, if the calibration determines the preset throttle opening for coasting on a downhill slope to be 10%, it means that above this preset opening, the vehicle will accelerate, while below it, the vehicle will continue coasting. Therefore, it is determined whether the current throttle pedal opening is less than 10%. If it is less than 10%, it indicates that the vehicle will continue coasting, and the driving intention is determined to be coasting. If it is greater than or equal to 10%, it indicates that the driver has a higher torque demand, meaning the vehicle needs to accelerate, and the driving intention is determined to be acceleration.

[0104] In some embodiments, refer to Figure 2 , Figure 2 The flowchart illustrates the steps of the energy recovery strategy under the intention of coasting, as follows: Figure 2 As shown, the strategy specifically includes:

[0105] Step S201: Obtain the first preset torque; wherein, the first preset torque is the recovery torque when the intensity level of gliding energy recovery is strong.

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

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

[0108]

[0109] Where μ is the torque adjustment coefficient and V is the vehicle's current speed.

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

[0111] In some cases, if a fixed recovery torque is used for coasting energy recovery during vehicle coasting, the vehicle speed may become too slow or too fast after going downhill. Both of these situations can make it difficult for the driver to accurately control the vehicle in complex scenarios. Therefore, this invention provides a speed-dependent energy recovery strategy. By adjusting the recovery torque based on the vehicle speed during coasting, the recovery torque is increased when the vehicle speed is too high and decreased or even discontinued when the vehicle speed is too low. This allows the vehicle speed to be maintained within a certain range, making it easier for the driver to control the vehicle precisely.

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

[0113] α=μ×α1 Formula (2);

[0114] Where α1 represents the first preset torque and μ represents the torque adjustment coefficient; thus, the target recovery torque for coasting energy recovery can be directly obtained according to this calculation formula, and the vehicle can be controlled to perform coasting energy recovery according to the target recovery torque.

[0115] In some embodiments, acceleration intention includes slow acceleration intention and fast acceleration intention. These two different types of acceleration intention represent different torque demands of the driver, thus requiring different methods for determining the target recovery torque. Therefore, it is necessary to first determine the type of acceleration intention, and then determine the method for obtaining the target recovery torque based on the type of acceleration intention. Specifically, this may include the following process:

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

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

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

[0119] If the driving intention is a rapid acceleration type, then the accelerator pedal opening is large or the rate of change of the accelerator pedal opening is fast, indicating that the driver has a high demand for engine torque, that is, the vehicle needs to accelerate quickly. In this case, coasting energy recovery will hinder the vehicle's acceleration process, and coasting energy recovery needs to be discontinued. However, directly discontinuing coasting energy recovery is not conducive to vehicle driving in off-road scenarios. Therefore, the vehicle is controlled to start from the first preset torque and gradually decrease at the preset torque change rate until coasting energy recovery is discontinued. This ensures that in the early stage of vehicle acceleration, during the descent, some gravitational potential energy is still converted into electrical energy, but coasting 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, then the accelerator pedal opening is relatively small and the rate of change of the accelerator pedal opening is slow. This indicates that the driver judges that the vehicle needs to accelerate, but the acceleration demand is not high. In this case, during acceleration, coasting energy recovery has little impact on the increase in vehicle speed and coasting energy recovery can be carried out. However, considering that a strong coasting energy recovery intensity level would lead to excessive vehicle deceleration, making it difficult for the vehicle to accelerate slowly to the speed required by the driver, the recovery torque of coasting energy recovery is set to the second preset torque, that is, the recovery torque when the intensity level of coasting energy recovery is the standard level. At this torque, energy recovery can be achieved without affecting the vehicle speed.

[0121] The methods for determining the type of acceleration intention specifically include:

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

[0123] If the current rate of change is less than or equal to the preset rate of change, the type of the acceleration intention is determined to be the slow acceleration type.

[0124] If the current rate of change is greater than the preset rate of change, the type of the acceleration intention is determined to be the fast acceleration type;

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

[0126] In this embodiment of the 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 intention is a fast acceleration 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 rate of change of the accelerator pedal. If the rate of change is greater than a preset rate of change, it indicates that the rate of change of the accelerator pedal is relatively fast, and the driving intention is a fast acceleration type. If the rate of change is less than or equal to the preset rate of change, it indicates that the rate of change of the accelerator pedal is relatively slow, and the driving intention is a slow acceleration type.

[0127] This invention categorizes acceleration types into two types by using the accelerator pedal opening and the rate of change of the accelerator pedal opening. Different coasting energy recovery strategies are then adopted for the driving intentions of the two different acceleration types. Under different acceleration types of driving intentions, coasting energy recovery is maximized while minimizing the impact of coasting energy recovery on vehicle speed increase.

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

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

[0130] In this embodiment of the invention, considering the heavy vehicle load and rugged road conditions in off-road mode, which increase energy consumption to maintain the same driving speed compared to normal road driving, the battery needs a longer driving time to cope with the harsh environment of off-road mode. Therefore, in off-road mode, the State of Charge (SOC) value for recuperation during coasting is set to a first preset SOC value, while in non-off-road mode, the SOC value is set to a second preset SOC value, where the first preset SOC value is greater than the second SOC value. Thus, when the vehicle is in off-road mode, it begins charging with a relatively high remaining battery level, ensuring the vehicle maintains a high battery level to support its sustained driving capability under complex road conditions. Both the first and second preset SOC values ​​can be obtained through calibration.

[0131] In some embodiments, considering that the off-road mode needs to have a longer driving range and the ability to quickly recover energy, it is necessary to determine a different engine speed for idling charging for the off-road mode than for the non-off-road mode, so that the battery can be quickly replenished.

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

[0133] When the vehicle's driving mode is the off-road mode, the engine speed of the vehicle during idling charging is set to a first preset speed.

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

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

[0136] In this embodiment of the invention, by setting the engine speed for idling charging in off-road mode to be higher than that in non-off-road mode, the vehicle can maintain a high-efficiency charging state in off-road mode, thereby enabling the battery to be quickly replenished and improving the battery's range.

[0137] In some embodiments, if the slope is relatively gentle, it is difficult to recover coasting energy while maintaining vehicle speed. In this case, the slope value can be determined first, and the decision on whether to recover coasting energy can be made based on the slope value. Specifically, when the vehicle is in a downhill state, acquiring the accelerator pedal opening and the accelerator pedal change rate includes:

[0138] When the vehicle is going downhill, the slope of the vehicle's location is detected;

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

[0140] The method further includes:

[0141] If the slope is less than the preset slope, the gliding energy recovery is turned off.

[0142] The preset slope can be a calibrated slope value where the vehicle speed changes little under these conditions. At this slope, the vehicle's coasting energy recovery will cause the vehicle to decelerate and make it difficult to meet the vehicle's driving needs.

[0143] Specifically, the vehicle sensors, such as a horizontal gyroscope, can be used to determine whether the vehicle is tilted. If it is tilted, the height difference between the calibration points at the front and rear of the vehicle can be obtained. The slope of the downhill slope where the vehicle is located can be determined based on the height difference and the horizontal distance. The calibration points at the front and rear of the vehicle can be pre-set points at the front and rear of the vehicle, and the line connecting the two points is parallel to the horizontal ground.

[0144] The energy recovery control method provided in this invention improves the efficiency of energy recovery while avoiding impacting the user's driving experience by formulating targeted coasting energy recovery strategies based on the vehicle's different driving intentions when it is going downhill. Different energy recovery strategies are formulated for different driving intentions, ensuring that energy recovery does not affect driving performance under coasting, slow acceleration, and fast acceleration intentions, thus reducing the difficulty of driving in off-road conditions. Furthermore, this invention improves the efficiency of energy recovery and battery range in off-road conditions by increasing the vehicle's State of Charge (SOC) threshold and battery charging efficiency, thereby ensuring driving safety.

[0145] Reference Figure 3 , Figure 3 The control logic diagram of the energy recovery control method provided in the embodiment of the present invention is shown, as follows: Figure 3 As shown, taking a vehicle in a desert scenario as an example, firstly, the vehicle's driving mode is obtained. If the vehicle is in non-off-road mode, then the energy recovery conditions for non-off-road mode are met, that is, when the vehicle's SOC value is below 70%, coasting energy recovery is performed.

[0146] If the vehicle is in off-road mode, coasting energy recovery is initiated in response to the energy recovery conditions of off-road mode, i.e., when the vehicle's SOC value is below 80%. If the energy recovery strategy of this embodiment is applied to any driving mode, further judgment is made directly. However, if the energy recovery strategy of this embodiment is only applied to a desert scenario, considering that a desert scenario is only one type of off-road mode, it is determined whether the current off-road mode is a desert scenario off-road mode. In this case, the current driving scenario is determined by monitoring the vehicle's tire pressure: if the tire pressure is less than 1.5 bar, and it is greater than or equal to 1.5 bar, it indicates that the vehicle is in a non-desert off-road mode, and the vehicle is controlled to perform coasting energy recovery according to a first preset torque; if it is less than 1.5 bar, it indicates that the vehicle is in a desert off-road mode, and the slope of the vehicle is detected. If the slope is less than 10°, it indicates that performing energy recovery at this time may affect the normal driving of the vehicle, therefore, coasting energy recovery is discontinued.

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

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

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

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

[0151] During coasting energy recovery, if the vehicle is in off-road mode, the engine speed for idling charging is set to the first preset speed, such as 3000 rpm, to improve charging efficiency in off-road mode; if the vehicle is in non-off-road mode, the engine speed for idling charging is set to the second preset speed, such as 1200 rpm, to fully consider the driver's comfort.

[0152] Based on the same inventive concept, referring to Figure 4 , Figure 4 A schematic diagram of the energy recovery control device provided in an embodiment of the present invention is shown, as follows: Figure 4 As shown, the device specifically includes:

[0153] The detection module 401 is used to detect the state of the vehicle in response to the vehicle's operating conditions meeting the energy recovery conditions; wherein, the energy recovery conditions are used to determine whether the vehicle is performing coasting energy recovery;

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

[0155] The determining module 403 is used to determine the driving intention of the vehicle based on the current opening degree; wherein the driving intention includes a coasting driving intention and an acceleration driving intention;

[0156] Energy recovery module 404 is used to trigger an energy recovery strategy corresponding to the driving intention in order to recover energy;

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

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

[0159] This invention, in response to the vehicle's operating conditions meeting energy recovery conditions, detects the vehicle's state and, when the vehicle is downhill, determines the vehicle's driving intention based on the accelerator pedal opening. Different coasting energy recovery strategies are then implemented based on these different intentions. Thus, by determining whether the driver intends to accelerate or coast while the vehicle is downhill based on the accelerator pedal opening, different energy recovery strategies are proposed based on these two different intentions. Specifically, during acceleration, coasting energy recovery is performed based on the accelerator pedal opening and rate of change, reducing the impact of coasting energy recovery on vehicle speed increase during acceleration. During coasting, the target recovery torque is adjusted based on vehicle speed to avoid situations where a fixed torque leads to excessively high or low vehicle speeds. Therefore, the impact of coasting energy recovery on the user's driving is reduced during downhill driving.

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

[0161] The first determining submodule is used to determine the driving intention as the coasting driving intention when the current opening is less than the first preset opening.

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

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

[0164] The first acquisition submodule is used to acquire a first preset torque; wherein, the first preset torque is the recovery torque when the intensity level of gliding energy recovery is strong;

[0165] The third determining submodule is used to determine the torque adjustment coefficient based on the current vehicle speed;

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

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

[0168] The fifth determining submodule is used to determine the type of the acceleration driving intention based on the current opening degree and / or the current rate of change;

[0169] The sixth determining submodule is used to determine the target recovery torque as a recovery torque that decreases from a first preset torque according to a preset torque change rate when the type of acceleration intention is the fast acceleration type; wherein, the first preset torque is the recovery torque when the intensity level of coasting energy recovery is strong.

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

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

[0172] The first detection submodule is used to detect the slope of the vehicle's location when the vehicle is in a downhill state;

[0173] The third acquisition submodule is used to acquire the accelerator pedal opening and accelerator pedal change rate of the vehicle when the slope is greater than or equal to the preset slope.

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

[0175] In some feasible embodiments, the vehicle's driving modes include off-road mode and non-off-road mode;

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

[0177] In the non-off-road mode, the energy recovery condition is that the vehicle's SOC value does not reach the 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 apparatus further includes:

[0180] The third control module is used to set the engine speed of the vehicle during idling charging to a first preset speed when the vehicle's driving mode is off-road mode.

[0181] The fourth control module is used to set the engine speed of the vehicle during idling charging to a second preset speed when the vehicle's driving mode is non-off-road mode.

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

[0183] Based on the same inventive concept, embodiments of the present invention also provide a vehicle, the vehicle including a control unit, the control unit being used 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 modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0185] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, as some steps can be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and components involved are not necessarily essential to the present invention.

[0186] The above provides a detailed description of the energy recovery control method, device, and vehicle provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling energy recovery, characterized in that, The method includes: In response to the vehicle's operating conditions meeting the energy recovery conditions, the state of the vehicle is detected; wherein, the energy recovery conditions characterize the operating conditions under which the vehicle performs coasting energy recovery; When the vehicle is going downhill, obtain the current opening degree and current rate of change of the accelerator pedal of the vehicle; Based on the current opening degree, the vehicle's driving intention is determined; wherein, the driving intention includes a coasting driving intention and an acceleration driving intention; the acceleration driving intention includes slow acceleration type and fast acceleration type acceleration driving intention; Trigger the energy recovery strategy corresponding to the driving intention to recover energy; The energy recovery strategy corresponding to the coasting intention includes: determining a target recovery torque based on the vehicle's current 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 intention includes: determining the target recovery torque based on the current opening degree and / or the current rate of change; Wherein, the target recovery torque corresponding to the fast acceleration type is the recovery torque that decreases from the first preset torque according to the preset torque change rate; the target recovery torque corresponding to the slow acceleration type is the second preset torque; the first preset torque is greater than the second preset torque.

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

3. The energy recovery control method according to claim 1, characterized in that, Determining the target recovery torque based on the vehicle's current speed includes: Obtain a first preset torque; wherein, the first preset torque is the recovery torque when the intensity level of gliding energy recovery is strong; Based on the current vehicle speed, determine the torque adjustment coefficient; 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, characterized in that, Determining the target recovery torque based on the current opening degree and / or the current rate of change includes: The type of acceleration intention is determined based on the current opening degree and / or the current rate of change. When the type of acceleration intention is the fast acceleration type, the target recovery torque is determined as the recovery torque that decreases from a first preset torque according to a preset torque change rate; wherein, the first preset torque is the recovery torque when the intensity level of coasting energy recovery is strong. When the type of acceleration intention is the slow acceleration type, the second preset torque is used as the target recovery torque to continuously recover energy according to the target recovery torque; wherein, the second preset torque is the recovery torque when the intensity level of coasting energy recovery is the standard level.

5. The energy recovery control method according to claim 4, characterized in that, Determining the type of the acceleration intention based on the current opening degree and / or the current rate of change includes: If the current opening is greater than or equal to a first preset opening and less than a second preset opening, the current rate of change is compared with a preset rate of change; wherein the first preset opening is less than the second preset opening. If the current rate of change is less than or equal to the preset rate of change, the type of the acceleration intention is determined to be the slow acceleration type. If the current rate of change is greater than the preset rate of change, the type of the acceleration intention is determined to be the fast acceleration type; If the current opening degree is greater than or equal to the second preset opening degree, 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, characterized in that, The step of acquiring the accelerator pedal opening and the rate of change of the accelerator pedal when the vehicle is in a downhill state includes: When the vehicle is going downhill, the slope of the vehicle's location is detected; When the slope is greater than or equal to a preset slope, the accelerator pedal opening and the accelerator pedal change rate of the vehicle are obtained; The method further includes: If the slope is less than the preset slope, the gliding energy recovery is turned off.

7. The energy recovery control method according to claim 1, characterized in that, The vehicle's driving modes include off-road mode and non-off-road mode; In the off-road mode, the energy recovery condition is that the vehicle's SOC value does not reach a first preset SOC value; In the non-off-road mode, the energy recovery condition is that the vehicle's SOC value does not reach the 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, characterized in that, The method further includes: When the vehicle's driving mode is the off-road mode, the engine speed of the vehicle during idling charging is set to a first preset speed. When the vehicle's driving mode is the non-off-road mode, the engine speed of the vehicle during idling charging is set to a second preset speed. The first preset speed is higher than the second preset speed.

9. A control device for energy recovery, characterized in that, The device includes: The detection module is used to detect the state of the vehicle in response to the vehicle's operating conditions meeting the energy recovery conditions; wherein, the energy recovery conditions characterize the operating conditions under which the vehicle performs coasting energy recovery. The acquisition module is used to acquire the current opening degree and current rate of change of the accelerator pedal of the vehicle when the vehicle is in a downhill state; The determining module is used to determine the driving intention of the vehicle based on the current opening degree; wherein, the driving intention includes a coasting driving intention and an acceleration driving intention; the acceleration driving intention includes a slow acceleration type and a fast acceleration type acceleration driving intention; An energy recovery module is used to trigger an energy recovery strategy corresponding to the driving intention for energy recovery. The energy recovery strategy corresponding to the coasting intention includes: determining a target recovery torque based on the vehicle's current 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 intention includes: determining the target recovery torque based on the current opening degree and the current rate of change; wherein the target recovery torque corresponding to the fast acceleration type is a recovery torque that decreases according to a preset torque change rate, starting from a first preset torque; the target recovery torque corresponding to the slow acceleration type is a second preset torque; the first preset torque is greater than the second preset torque.

10. A vehicle, characterized in that, The vehicle includes a control unit for performing the energy recovery control method according to any one of claims 1-8.

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