Vehicle energy recovery control method, device and equipment and medium

Abstract

The embodiment of the invention discloses an energy recovery control method and device for a vehicle, equipment and a medium, and relates to the technical field of energy recovery. The method comprises the steps that if it is determined that a vehicle meets a sliding energy recovery condition according to vehicle driving information, whether an obstacle exists in the driving direction of the vehicle or not is judged in an automatic sliding energy recovery mode; if the obstacle does not exist in the driving direction of the vehicle, a driving control signal of the vehicle is determined according to the magnitude relation between the acceleration of the vehicle and a preset safe acceleration threshold value; if the obstacle exists in the driving direction of the vehicle, a driving control signal of the vehicle is determined according to the magnitude relation between the acceleration of the vehicle and a preset safe acceleration threshold value and the distance between the vehicle and the obstacle in the driving direction. According to the technical scheme, the vehicle is controlled to enter the energy recovery mode or the sliding mode according to the real-time information in the vehicle running process, the energy utilization rate is increased, and meanwhile the use experience of a user is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of energy recovery, and particularly to an energy recovery control method, device, equipment and medium for a vehicle. Background Art

[0002] With the progress of new energy technologies, the demand of users for fuel saving of commercial vehicles has further increased, and hybrid commercial vehicles are booming along with the demand of users. The energy recovery function is an important function for hybrid commercial vehicles to achieve fuel saving, and improving the efficiency of coasting energy recovery and the driving experience is an important issue among them.

[0003] Currently, the solution for energy recovery control usually performs energy recovery control of the vehicle on the premise that the vehicle meets certain conditions. However, since the energy utilization rate of energy recovery is less than the energy utilization rate during vehicle coasting, the current solution will still perform energy recovery when the driver intends to control the vehicle to coast, which leads to the problems of low energy utilization efficiency and affecting the driving experience of the driver. Summary of the Invention

[0004] The present invention provides an energy recovery control method, device, equipment and medium for a vehicle, which can control the vehicle to enter the energy recovery mode or the coasting mode according to the real-time information during the vehicle driving process after the vehicle enters the coasting state, improving the energy utilization rate and greatly improving the user experience at the same time.

[0005] According to one aspect of the present invention, there is provided an energy recovery control method for a vehicle, the method comprising:

[0006] If it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery condition, then in the automatic coasting energy recovery mode, it is judged whether there is an obstacle in the driving direction of the vehicle;

[0007] If there is no obstacle in the driving direction of the vehicle, then according to the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold, a driving control signal of the vehicle is determined to perform driving control on the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter the coasting mode or the energy recovery mode;

[0008] If there is an obstacle in the driving direction of the vehicle, then according to the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold, and the distance between the vehicle and the obstacle in the driving direction, a driving control signal of the vehicle is determined to perform driving control on the vehicle based on the driving control signal.

[0009] According to another aspect of the present invention, there is provided an energy recovery control device for a vehicle, comprising:

[0010] An obstacle determination module, configured to determine whether there is an obstacle in the driving direction of the vehicle in the automatic coasting energy recovery mode if it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery condition;

[0011] A first driving control signal determination module, configured to determine a driving control signal of the vehicle according to the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold if there is no obstacle in the driving direction of the vehicle, so as to perform driving control on the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter a coasting mode or an energy recovery mode;

[0012] A second driving control signal determination module, configured to determine a driving control signal of the vehicle according to the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold, and the distance between the vehicle and the obstacle in the driving direction if there is an obstacle in the driving direction of the vehicle, so as to perform driving control on the vehicle based on the driving control signal.

[0013] According to another aspect of the present invention, there is provided an electronic device, the electronic device includes:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the energy recovery control method of the vehicle according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the energy recovery control method of the vehicle according to any embodiment of the present invention when executed by a processor.

[0018] The technical solution of the embodiment of the present application includes: if it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery condition, then in the automatic coasting energy recovery mode, it is judged whether there is an obstacle in the driving direction of the vehicle; if there is no obstacle in the driving direction of the vehicle, then according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold, the driving control signal of the vehicle is determined to control the driving of the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter the coasting mode or the energy recovery mode; if there is an obstacle in the driving direction of the vehicle, then according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold, and the distance between the vehicle and the obstacle in the driving direction, the driving control signal of the vehicle is determined to control the driving of the vehicle based on the driving control signal. After the vehicle enters the coasting state, the technical solution controls the vehicle to enter the energy recovery mode or the coasting mode according to the real-time information during the vehicle driving process. This control method conforms to the driving intention of the driver, and while improving the energy utilization rate, greatly improves the user experience.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 is a flowchart of a method for controlling energy recovery of a vehicle provided in Embodiment 1 of the present application;

[0022] Figure 2 is a flowchart of a method for controlling energy recovery of a vehicle provided in Embodiment 2 of the present application;

[0023] Figure 3 is a schematic structural diagram of a device for controlling energy recovery of a vehicle provided in Embodiment 3 of the present application;

[0024] Figure 4 is a schematic structural diagram of an electronic device for implementing the method for controlling energy recovery of a vehicle in the embodiment of the present application. Detailed Embodiments

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 A flowchart of a vehicle energy recovery control method is provided for the first embodiment of the present application. The embodiment of the present application is applicable to the case of energy recovery control of a vehicle. The method can be executed by an energy recovery control device of the vehicle. The energy recovery control device of the vehicle can be implemented in the form of hardware and / or software. The energy recovery control device of the vehicle can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0029] S110: If it is determined according to the vehicle driving information that the vehicle has satisfied the coasting energy recovery condition, then in the automatic coasting energy recovery mode, it is determined whether there is an obstacle in the driving direction of the vehicle.

[0030] The driving information of the vehicle reflects the driving state of the vehicle. For example, the driving information of the vehicle includes but is not limited to the accelerator pedal opening, brake pedal opening, etc. The coasting energy recovery condition in the embodiment of the present application can be a judgment condition for the vehicle to initially enter the coasting state. When the vehicle initially enters the coasting state, it reflects that the vehicle is not controlled by the driver or the vehicle's driving control system, that is, the vehicle is only coasting. In this case, when energy recovery is performed, it is necessary to meet the vehicle's coasting needs as much as possible (because the energy utilization rate of coasting is higher than that of energy recovery) to meet the driver's driving intention and reduce unnecessary energy recovery processes.

[0031] Specifically, it is determined in real time whether the vehicle has met the coasting energy recovery condition based on the vehicle driving information. If it has met the condition, the energy recovery mode of the vehicle is obtained (the energy recovery mode may include an automatic coasting energy recovery mode and a manual mode). If the energy recovery mode is the automatic coasting energy recovery mode, the obstacle information in the driving direction of the vehicle is obtained. If there is an obstacle, in this case, on the premise of ensuring that there is no collision risk between the vehicle and the obstacle, the vehicle can be controlled to coast; if there is no obstacle, and the vehicle is not accelerating too fast, the vehicle can be controlled to coast. Exemplarily, the driving direction of the vehicle is usually the front of the vehicle.

[0032] S120. If there is no obstacle in the driving direction of the vehicle, the driving control signal of the vehicle is determined according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold, so as to perform driving control on the vehicle based on the driving control signal.

[0033] Wherein, the driving control signal is used to control the vehicle to enter the coasting mode or the energy recovery mode. The safe acceleration threshold can be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0034] Specifically, if there is no obstacle in the driving direction of the vehicle and the vehicle is not accelerating too much, in this case, the driver's driving intention is usually to keep the vehicle coasting. Therefore, the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold can be judged. If the vehicle is accelerating and the acceleration amplitude is high, the energy recovery mode control signal can be determined as the driving control signal of the vehicle, so as to control the motor to output reverse torque based on the energy recovery mode control signal, and perform energy recovery while performing vehicle braking control; if the vehicle is decelerating or the acceleration amplitude is low, in this case, the coasting mode control signal can be determined as the driving control signal of the vehicle to keep the vehicle coasting.

[0035] S130. If there is an obstacle in the driving direction of the vehicle, the driving control signal of the vehicle is determined according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold, and the distance between the vehicle and the obstacle in the driving direction, so as to perform driving control on the vehicle based on the driving control signal.

[0036] Specifically, if there is an obstacle in the driving direction of the vehicle, in this case, the driver's driving intention may change according to the distance between the vehicle and the obstacle in the driving direction. Specifically, if the distance is relatively far, that is, the collision risk is small, and the vehicle is decelerating while driving on an uphill or flat slope section, in this case, the vehicle can be controlled to coast, that is, the coasting control signal is determined as the driving control signal of the vehicle to make the vehicle perform a coasting operation. If the distance is relatively close, that is, the collision risk is large, or the vehicle has a large acceleration while driving on a downhill section, the energy recovery mode control signal can be determined as the driving control signal of the vehicle to make the vehicle perform an energy recovery operation.

[0037] In the embodiment of the present application, when the driving control signal of the vehicle is the energy recovery mode control signal, the energy recovery mode control signal can be sent to the motor so that the motor outputs a negative torque for energy recovery. When the driving control signal of the vehicle is the coasting mode control signal, the coasting mode control signal can be sent to the transmission so that the transmission controls the vehicle gear to the gear when coasting.

[0038] The technical solution of the embodiment of the present application includes: if it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery condition, then in the automatic coasting energy recovery mode, it is judged whether there is an obstacle in the driving direction of the vehicle; if there is no obstacle in the driving direction of the vehicle, then according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold, the driving control signal of the vehicle is determined to perform driving control on the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter the coasting mode or the energy recovery mode; if there is an obstacle in the driving direction of the vehicle, then according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold, and the distance between the vehicle and the obstacle in the driving direction, the driving control signal of the vehicle is determined to perform driving control on the vehicle based on the driving control signal. This technical solution controls the vehicle to enter the energy recovery mode or the coasting mode according to the real-time information during the vehicle driving process after the vehicle enters the coasting state. This control method conforms to the driver's driving intention, and while improving the energy utilization rate, it greatly improves the user experience.

[0039] Embodiment Two

[0040] Figure 2 It is a flowchart of a method for controlling energy recovery of a vehicle provided in Embodiment Two of the present application. The embodiment of the present application is optimized based on the above embodiment.

[0041] As Figure 2 shown, the method of the embodiment of the present application specifically includes the following steps:

[0042] S210, determine that the vehicle has met the coasting energy recovery condition according to the vehicle driving information, and determine that the vehicle is in the automatic coasting energy recovery mode.

[0043] In an embodiment of the present application, optionally, determining that the vehicle has met the coasting energy recovery condition according to the vehicle driving information includes: if the brake pedal opening of the vehicle is 0, the accelerator pedal opening is 0, and neither the brake control system nor the drive control system intervenes in the control of the vehicle, it is determined that the vehicle has met the coasting energy recovery condition.

[0044] Exemplarily, the method described in the embodiment of the present application is executed by a vehicle controller, and can receive signals from a brake pedal opening sensor, signals from an accelerator pedal opening sensor, and intervention signals from a vehicle control system (the vehicle control system can be divided into a brake control system for braking the vehicle and a drive control system for driving the vehicle. Exemplarily, the vehicle control system is an ASR (traction control system), an ESP (electronic stability program)). If the brake pedal opening of the vehicle is 0, the accelerator pedal opening is 0, and neither the brake control system nor the drive control system intervenes in the control of the vehicle, that is, the vehicle is not artificially accelerated or decelerated and is not accelerated or decelerated by the vehicle control system, and is only in a coasting state; then it is determined whether the vehicle is in the automatic coasting energy recovery mode. If so, S220 is executed.

[0045] This solution is set up such that the vehicle determines whether energy recovery is required in the coasting state, that is, it can automatically switch between coasting and energy recovery. Since the energy utilization rate of neutral coasting is higher than that of coasting energy recovery, the technical solution of the present application can preferentially enter neutral coasting, thereby improving the user's driving experience on the premise of maintaining a high energy utilization rate.

[0046] In an embodiment of the present application, optionally, after determining that the vehicle has met the coasting energy recovery condition according to the vehicle driving information, the method further includes: if the current coasting energy recovery mode is the manual mode, obtaining the energy recovery intensity preset by the user; determining the minimum value among the recovery power corresponding to the energy recovery intensity, the allowable braking power of the power motor, the allowable charging power of the power battery, and the maximum braking power allowed by the whole vehicle as the target recovery power; generating an energy recovery control signal for the vehicle based on the target recovery power, and performing energy recovery control on the vehicle based on the energy recovery control signal.

[0047] Specifically, if the vehicle has pre-set the energy recovery mode to the manual mode, obtain the energy recovery intensity pre-set by the user on the UI interface. The energy recovery intensity can be between 0% and 100%. Then determine the recovery power corresponding to the energy recovery intensity, and obtain the allowable braking power of the power motor, the allowable charging power of the power battery, and the maximum braking power allowed by the whole vehicle. Determine the minimum value among the above four powers as the target recovery power, generate an energy recovery control signal for the vehicle based on the target recovery power, and perform energy recovery control on the vehicle based on the energy recovery control signal.

[0048] With this setting of the present solution, the minimum recovery power threshold, that is, the target recovery power, can be determined from each recovery power threshold in the manual mode. Then, based on the target recovery power, energy recovery of the vehicle can be carried out while ensuring the safety of the vehicle.

[0049] S220. Determine whether there is an obstacle in the driving direction of the vehicle. If so, execute S230; otherwise, execute S260.

[0050] S230. Determine whether the distance between the vehicle and the obstacle in the driving direction is greater than the preset safety distance. If so, execute S240; otherwise, execute S250.

[0051] S240. When the acceleration of the vehicle is greater than the preset safety acceleration threshold, determine the energy recovery mode control signal as the driving control signal of the vehicle, and perform driving control on the vehicle based on the driving control signal.

[0052] Among them, the preset safety acceleration threshold can be determined according to the actual situation. When the preset safety acceleration threshold is greater than 0, the vehicle is allowed to accelerate to a certain extent during coasting. When the preset safety acceleration threshold is 0, the vehicle is allowed to maintain the original speed and decelerate during coasting. When the preset safety acceleration threshold is less than 0, the vehicle is allowed to decelerate to a certain extent during coasting. Obviously, the user can set the preset safety acceleration threshold according to actual needs.

[0053] Specifically, when there is an obstacle in the driving direction of the vehicle and the distance between the vehicle and the obstacle in the driving direction is greater than the preset safety distance, the vehicle is relatively safe. In this case, if the vehicle is on a downhill slope, the acceleration of the vehicle can be calculated. If the acceleration of the vehicle is greater than the preset safety acceleration threshold, it means that the vehicle may be on a relatively steep downhill slope. In this case, energy recovery can be carried out to prevent the vehicle speed from increasing continuously.

[0054] Among them, the acceleration a of the vehicle can be calculated according to the following formula:

[0055]

[0056] wherein, G is the vehicle gravity, f is the rolling resistance coefficient, α is the angle between the slope where the vehicle is located and the horizontal plane, C D is the air resistance coefficient, A is the frontal area, u a is the vehicle speed, T tq is the torque output by the engine, i g is the transmission ratio of the transmission, i0 is the transmission ratio of the final drive, η T is the mechanical efficiency of the driveline, r is the wheel radius, δ is the vehicle mass conversion coefficient, δ > 1; m is the vehicle mass.

[0057] S250 determines a driving control signal of the vehicle according to the change rate of the distance between the vehicle and an obstacle in the driving direction and the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold value, and performs driving control on the vehicle based on the driving control signal.

[0058] Specifically, when there is an obstacle in the driving direction of the vehicle and the distance between the vehicle and the obstacle in the driving direction is greater than a preset safe distance, the change rate of the distance between the vehicle and the obstacle in the driving direction can be further determined. The change rate of the distance between the vehicle and the obstacle in the driving direction reflects the relative speed between the vehicle and the obstacle. Since the magnitude of the change rate of the distance between the vehicle and the obstacle in the driving direction and the magnitude of the acceleration will affect the driving risk of the vehicle, the driving control signal of the vehicle can be comprehensively determined according to the change rate of the distance between the vehicle and the obstacle in the driving direction and the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold value.

[0059] In an embodiment of the present application, optionally, determining a driving control signal of the vehicle according to the change rate of the distance between the vehicle and an obstacle in the driving direction and the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold value includes: if the change rate of the distance between the vehicle and the obstacle in the driving direction is greater than a preset change rate and the acceleration of the vehicle is greater than the preset safe acceleration threshold value, determining an energy recovery mode control signal as the driving control signal of the vehicle; if the change rate of the distance between the vehicle and the obstacle in the driving direction is greater than the preset change rate and the acceleration of the vehicle is less than or equal to the preset safe acceleration threshold value, determining a coasting control signal as the driving control signal of the vehicle; if the change rate of the distance between the vehicle and the obstacle in the driving direction is less than the preset change rate, calculating a vehicle speed change amount according to the difference between the change rate of the distance between the vehicle and the obstacle in the driving direction and the preset change rate; generating an energy recovery control signal of the vehicle based on the speed change amount, and performing energy recovery control on the vehicle based on the energy recovery control signal.

[0060] Specifically, when there is an obstacle in the driving direction of the vehicle and the distance between the vehicle and the obstacle in the driving direction is greater than the preset safety distance, if the rate of change of the distance between the vehicle and the obstacle in the driving direction is greater than the preset rate of change and the acceleration of the vehicle is greater than the preset safety acceleration threshold, in this case, it reflects that the vehicle is accelerating, and the acceleration amplitude is relatively high. It is necessary to determine the energy recovery mode control signal as the driving control signal of the vehicle to brake the vehicle through energy recovery.

[0061] Specifically, when there is an obstacle in the driving direction of the vehicle and the distance between the vehicle and the obstacle in the driving direction is greater than the preset safety distance, if the rate of change of the distance between the vehicle and the obstacle in the driving direction is greater than the preset rate of change and the acceleration of the vehicle is less than or equal to the preset safety acceleration threshold, in this case, it reflects that although there is an obstacle in the driving direction of the vehicle, the distance between the vehicle and the obstacle is gradually increasing (taking the preset rate of change as 0 as an example), and the acceleration of the vehicle is less than the preset safety acceleration threshold. In this case, the driving risk of the vehicle is relatively low, and the coasting control signal can be determined as the driving control signal of the vehicle.

[0062] It should be noted that the rate of change of the distance between the vehicle and the obstacle in the driving direction can be expressed by the following formula:

[0063] where t is time and L is the distance between the vehicle and the obstacle in the driving direction. Obviously, the larger this formula is, the more it reflects that the distance between the vehicle and the obstacle in front is increasing, and the smaller the driving risk is.

[0064] Specifically, when there is an obstacle in the driving direction of the vehicle and the distance between the vehicle and the obstacle in the driving direction is greater than the preset safety distance, if the rate of change of the distance between the vehicle and the obstacle in the driving direction is less than the preset rate of change, this situation reflects that the vehicle is approaching the obstacle in front. Energy recovery operation can be performed to make the rate of change of the distance between the vehicle and the obstacle in the driving direction equal to the preset rate of change. Specifically: according to the difference between the rate of change of the distance between the vehicle and the obstacle in the driving direction and the preset rate of change, calculate the vehicle speed change amount, that is, the vehicle speed needs to be reduced, and the specific reduced value is the vehicle speed change amount. This can meet the condition that the rate of change of the distance between the vehicle and the obstacle in the driving direction is equal to the preset rate of change, so that the vehicle will not approach the obstacle in front quickly. After calculating the vehicle speed change amount, generate the energy recovery control signal of the vehicle based on the vehicle speed change amount, and perform energy recovery control on the vehicle based on the energy recovery control signal. It should be noted that when generating the energy recovery control signal of the vehicle based on the vehicle speed change amount, it is necessary to calculate the acceleration of the vehicle in this case and ensure that the acceleration is less than or equal to the preset safety acceleration threshold.

[0065] S260, Determine whether the acceleration of the vehicle is greater than a preset safe acceleration threshold. If so, execute S270; otherwise, execute S280.

[0066] Specifically, the acceleration of the vehicle is usually related to the slope of the road surface where the vehicle is located. That is, on an uphill section or a flat slope section, the acceleration of the vehicle is usually less than 0, which means the vehicle is performing a deceleration operation. Therefore, if the preset safe acceleration threshold is set, when it is detected that the slope of the road surface where the vehicle is located is an uphill section or a flat slope section, it can be determined that the acceleration of the vehicle is less than the preset safe acceleration threshold.

[0067] S270, Determine the energy recovery mode control signal as the driving control signal of the vehicle, and perform driving control on the vehicle based on this driving control signal.

[0068] In the embodiment of the present application, optionally, if the acceleration of the vehicle is greater than the preset safe acceleration threshold, determining the energy recovery mode control signal as the driving control signal of the vehicle includes: determining the difference between the acceleration of the vehicle and the preset safe acceleration threshold as the acceleration difference; determining the energy recovery resistance of the vehicle according to the acceleration difference and the vehicle mass; generating an energy recovery control signal of the vehicle based on the energy recovery resistance, and performing energy recovery control on the vehicle based on this energy recovery control signal.

[0069] Specifically, when performing energy recovery control, precise energy recovery power control can be performed on the vehicle to make the acceleration of the vehicle equal to the preset safe acceleration threshold. The specific calculation method is to calculate the difference between the acceleration of the vehicle and the preset safe acceleration threshold, and determine this difference as the acceleration difference; this acceleration difference reflects the reduction amount of the acceleration of the vehicle, and then the energy recovery resistance of the vehicle can be determined according to the acceleration difference and the vehicle mass; generate an energy recovery control signal of the vehicle based on the energy recovery resistance, so that when the vehicle performs energy recovery through the motor, the resistance applied to the vehicle is equal to the energy recovery resistance.

[0070] This solution is set in this way, so that the acceleration of the vehicle is reduced to the preset safe acceleration threshold under the action of energy recovery. This setting can, while ensuring driving safety, reduce the intensity of energy recovery as much as possible, so that the vehicle can coast as much as possible, achieving the effect of improving the energy utilization rate of the vehicle.

[0071] S280, Determine the coasting mode control signal as the driving control signal of the vehicle, and perform driving control on the vehicle based on this driving control signal.

[0072] Specifically, when there are no obstacles in the driving direction of the vehicle and the acceleration of the vehicle is less than or equal to the preset safe acceleration threshold, the driving risk of the vehicle is relatively small, and the vehicle can be controlled to enter the coasting mode.

[0073] The technical solution of the embodiment of the present application calculates a driving signal adapted to the current driving state of the vehicle through the distance between the vehicle and an obstacle in the driving direction, the acceleration of the vehicle, the change rate of the distance between the vehicle and the obstacle in the driving direction, etc. During the whole process, the coasting mode and the energy recovery mode are reasonably allocated while ensuring a relatively low driving risk, and when in the energy recovery mode, the energy recovery control signal of the vehicle is accurately calculated. After the vehicle is subjected to energy recovery control based on the energy recovery control signal, the acceleration of the vehicle is equal to the preset safe acceleration threshold; or the change rate of the distance between the vehicle and the obstacle in the driving direction is equal to the preset change rate. Such a setting maximally increases the proportion of coasting, reduces the degree of energy recovery, and greatly improves the energy utilization rate.

[0074] Embodiment III

[0075] Figure 3 FIG. is a schematic structural diagram of an energy recovery control device for a vehicle provided by Embodiment III of the present application. The device can execute the energy recovery control method for a vehicle provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. As Figure 3 shown, the device includes:

[0076] An obstacle determination module 310, configured to determine whether there is an obstacle in the driving direction of the vehicle in the automatic coasting energy recovery mode if it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery condition;

[0077] A first driving control signal determination module 320, configured to determine the driving control signal of the vehicle according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold if there is no obstacle in the driving direction of the vehicle, so as to perform driving control on the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter the coasting mode or the energy recovery mode;

[0078] A second driving control signal determination module 330, configured to determine the driving control signal of the vehicle according to the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold and the distance between the vehicle and the obstacle in the driving direction if there is an obstacle in the driving direction of the vehicle, so as to perform driving control on the vehicle based on the driving control signal.

[0079] The technical solution of the embodiment of the present application includes: an obstacle determination module 310, configured to determine whether there is an obstacle in the driving direction of the vehicle in the automatic coasting energy recovery mode if it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery condition; a first driving control signal determination module 320, configured to determine a driving control signal of the vehicle according to the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold if there is no obstacle in the driving direction of the vehicle, so as to perform driving control on the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter the coasting mode or the energy recovery mode; a second driving control signal determination module 330, configured to determine a driving control signal of the vehicle according to the magnitude relationship between the acceleration of the vehicle and a preset safe acceleration threshold, and the distance between the vehicle and the obstacle in the driving direction if there is an obstacle in the driving direction of the vehicle, so as to perform driving control on the vehicle based on the driving control signal. In this technical solution, after the vehicle enters the coasting state, the vehicle is controlled to enter the energy recovery mode or the coasting mode according to the real-time information during the vehicle driving process. This control method conforms to the driving intention of the driver, and greatly improves the user experience while improving the energy utilization rate.

[0080] Optionally, the first driving control signal determination module 320 includes:

[0081] A first driving control signal determination unit, configured to determine the energy recovery mode control signal as the driving control signal of the vehicle if the acceleration of the vehicle is greater than the preset safe acceleration threshold;

[0082] Otherwise, determine the coasting mode control signal as the driving control signal of the vehicle.

[0083] Optionally, the first driving control signal determination unit includes:

[0084] An acceleration difference calculation sub-unit, configured to determine the difference between the acceleration of the vehicle and the preset safe acceleration threshold as the acceleration difference;

[0085] An energy recovery resistance calculation sub-unit, configured to determine the energy recovery resistance of the vehicle according to the acceleration difference and the vehicle mass;

[0086] A first driving control signal determination sub-unit, configured to generate an energy recovery control signal of the vehicle based on the energy recovery resistance, and perform energy recovery control on the vehicle based on the energy recovery control signal.

[0087] Optionally, the second driving control signal determination module 330 includes:

[0088] A second driving control signal determination unit, configured to, if the distance between the vehicle and an obstacle in the driving direction is greater than a preset safety distance, determine the energy recovery mode control signal as the driving control signal of the vehicle when the acceleration of the vehicle is greater than a preset safe acceleration threshold;

[0089] Otherwise, determine the driving control signal of the vehicle according to the change rate of the distance between the vehicle and the obstacle in the driving direction and the magnitude relationship between the acceleration of the vehicle and the preset safe acceleration threshold.

[0090] Optionally, the second driving control signal determination unit includes:

[0091] An energy recovery mode control signal determination subunit, configured to, if the change rate of the distance between the vehicle and an obstacle in the driving direction is greater than a preset change rate and the acceleration of the vehicle is greater than a preset safe acceleration threshold, determine the energy recovery mode control signal as the driving control signal of the vehicle;

[0092] A coasting control signal determination subunit, configured to, if the change rate of the distance between the vehicle and an obstacle in the driving direction is greater than a preset change rate and the acceleration of the vehicle is less than or equal to a preset safe acceleration threshold, determine the coasting control signal as the driving control signal of the vehicle;

[0093] A vehicle speed change amount calculation subunit, configured to, if the change rate of the distance between the vehicle and an obstacle in the driving direction is less than a preset change rate, calculate the vehicle speed change amount according to the difference between the change rate of the distance between the vehicle and the obstacle in the driving direction and the preset change rate;

[0094] A second driving control signal determination subunit, configured to generate an energy recovery control signal of the vehicle based on the speed change amount and perform energy recovery control on the vehicle based on the energy recovery control signal.

[0095] Optionally, the obstacle determination module 310 includes:

[0096] A coasting energy recovery condition determination unit, configured to determine that the vehicle has satisfied the coasting energy recovery condition if the brake pedal opening of the vehicle is 0, the accelerator pedal opening is 0, and neither the brake control system nor the drive control system intervenes in the control of the vehicle.

[0097] Optionally, the device further includes:

[0098] An energy recovery intensity determination module, configured to, if the current coasting energy recovery mode is a manual mode, obtain the energy recovery intensity preset by the user;

[0099] The target recovery power determination module is configured to determine the minimum value among the recovery power corresponding to the energy recovery intensity, the allowable braking power of the power motor, the allowable charging power of the power battery, and the maximum braking power allowed by the whole vehicle as the target recovery power;

[0100] The energy recovery control signal determination module is configured to generate an energy recovery control signal for the vehicle based on the target recovery power, and perform energy recovery control on the vehicle based on the energy recovery control signal.

[0101] An energy recovery control device for a vehicle provided by an embodiment of the present application can execute an energy recovery control method for a vehicle provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution of the method.

[0102] Embodiment 4

[0103] Figure 4 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0104] As Figure 4 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0105] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0106] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the energy recovery control method of the vehicle.

[0107] In some embodiments, the energy recovery control method of the vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the energy recovery control method of the vehicle described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the energy recovery control method of the vehicle in any other suitable way (e.g., by means of firmware).

[0108] The various embodiments of the systems and technologies described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] A computer program for implementing the method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0110] In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] In order to provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0112] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected with each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0113] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0114] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0115] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle energy recovery control method, characterized in that: include: If it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery conditions, then in the automatic coasting energy recovery mode, it is determined whether there is an obstacle in the driving direction of the vehicle; If there is no obstacle in the driving direction of the vehicle, a driving control signal of the vehicle is determined according to the magnitude relationship between the acceleration of the vehicle and a preset safety acceleration threshold, so as to control the driving of the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter a gliding mode or an energy recovery mode; If there is an obstacle in the driving direction of the vehicle, the vehicle's driving control signal is determined based on the relationship between the vehicle's acceleration and a preset safety acceleration threshold, as well as the distance between the vehicle and the obstacle in the driving direction, so as to control the vehicle's driving based on the driving control signal.

2. The method according to claim 1, characterized in that According to the magnitude relationship between the acceleration of the vehicle and the preset safety acceleration threshold, a driving control signal of the vehicle is determined, including: If the acceleration of the vehicle is greater than a preset safety acceleration threshold, the energy recovery mode control signal is determined as a driving control signal of the vehicle; Otherwise, the coasting mode control signal is determined as the driving control signal of the vehicle.

3. The method according to claim 2, characterized in that If the acceleration of the vehicle is greater than a preset safety acceleration threshold, the energy recovery mode control signal is determined as a driving control signal of the vehicle, including: Determine the difference between the acceleration of the vehicle and a preset safety acceleration threshold as an acceleration difference; determining the energy recovery resistance of the vehicle according to the acceleration difference and the mass of the vehicle; An energy recovery control signal of the vehicle is generated based on the energy recovery resistance, and energy recovery control of the vehicle is performed based on the energy recovery control signal.

4. The method according to claim 1, characterized in that: According to the magnitude relationship between the acceleration of the vehicle and the preset safety acceleration threshold value, and the distance between the vehicle and the obstacle in the driving direction, the driving control signal of the vehicle is determined, including: If the distance between the vehicle and the obstacle in the driving direction is greater than a preset safety distance, then when the acceleration of the vehicle is greater than a preset safety acceleration threshold, the energy recovery mode control signal is determined as a driving control signal of the vehicle; Otherwise, the vehicle's driving control signal is determined according to the rate of change of the distance between the vehicle and the obstacle in the driving direction, and the magnitude relationship between the vehicle's acceleration and a preset safety acceleration threshold.

5. The method according to claim 4, characterized in that According to the rate of change of the distance between the vehicle and the obstacle in the driving direction, and the magnitude relationship between the acceleration of the vehicle and the preset safety acceleration threshold, the driving control signal of the vehicle is determined, including: If the change rate of the distance between the vehicle and the obstacle in the driving direction is greater than a preset change rate and the acceleration of the vehicle is greater than a preset safety acceleration threshold, the energy recovery mode control signal is determined as a driving control signal of the vehicle; If the change rate of the distance between the vehicle and the obstacle in the driving direction is greater than a preset change rate and the acceleration of the vehicle is less than or equal to a preset safety acceleration threshold, the coasting control signal is determined as a driving control signal of the vehicle; If the rate of change of the distance between the vehicle and the obstacle in the driving direction is less than a preset rate of change, the vehicle speed change is calculated according to the difference between the rate of change of the distance between the vehicle and the obstacle in the driving direction and the preset rate of change; An energy recovery control signal for the vehicle is generated based on the speed change, and energy recovery control is performed on the vehicle based on the energy recovery control signal.

6. The method according to claim 1, characterized in that Determine that the vehicle has met the coasting energy recovery conditions based on the vehicle driving information, including: If the vehicle's brake pedal opening is 0, the accelerator pedal opening is 0, and the brake control system and the drive control system are not involved in the control of the vehicle, it is determined that the vehicle has met the coasting energy recovery conditions.

7. The method according to claim 1, characterized in that After determining that the vehicle meets the coasting energy recovery condition according to the vehicle driving information, the method further includes: If the current coasting energy recovery mode is the manual mode, the energy recovery intensity preset by the user is obtained; The minimum value among the recovery power corresponding to the energy recovery intensity, the allowable braking power of the power motor, the allowable charging power of the power battery and the maximum braking power allowed by the whole vehicle is determined as the target recovery power; An energy recovery control signal for the vehicle is generated based on the target recovery power, and energy recovery control is performed on the vehicle based on the energy recovery control signal.

8. A vehicle energy recovery control device, characterized in that: include: An obstacle judgment module, for judging whether there is an obstacle in the driving direction of the vehicle in the automatic coasting energy recovery mode if it is determined according to the vehicle driving information that the vehicle has met the coasting energy recovery conditions; a first driving control signal determination module, configured to determine a driving control signal of the vehicle according to a magnitude relationship between the acceleration of the vehicle and a preset safety acceleration threshold if there is no obstacle in the driving direction of the vehicle, so as to control the vehicle based on the driving control signal; the driving control signal is used to control the vehicle to enter a gliding mode or an energy recovery mode; The second driving control signal determination module is used to determine the vehicle's driving control signal based on the relationship between the vehicle's acceleration and a preset safety acceleration threshold, and the distance between the vehicle and the obstacle in the driving direction if there is an obstacle in the vehicle's driving direction, so as to control the vehicle's driving based on the driving control signal.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle energy recovery control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle energy recovery control method according to any one of claims 1 to 7 when executed.

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