Energy recovery method and system based on vehicle stability and related equipment
By acquiring deceleration and distributing braking torque in the vehicle, the problem of failure to comprehensively consider energy recovery under different working conditions in the prior art is solved, and the utilization rate of energy recovery is improved.
Patent Information
- Application Number
- CN202510241915.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-03
- Publication Date
- 2025-06-27
AI Technical Summary
At this stage, the energy recovery intensity of vehicles under different working conditions has not been comprehensively considered, resulting in a low energy recovery and utilization rate.
By obtaining the deceleration of the vehicle under the current operating conditions, the total target braking torque is determined, and the braking torque distribution coefficients of the front axle and the rear axle are allocated based on the vehicle parameters, the target braking torque of each axle is determined, and the energy recovery torque strategy is finally implemented.
The energy recovery and utilization rate under different working conditions is improved, and the energy recovery capacity of the vehicle is enhanced by comprehensively considering each working condition.
Smart Images
Figure CN120207125A_ABST
Abstract
Description
Background Art
[0002] With the increasing degree of electrification of automobiles and the rapid development of electric vehicles, especially the rapid demand for the development of new energy vehicles and intelligent networked vehicles, the issue of endurance has always been a topic that cannot be bypassed for pure electric vehicles. Therefore, the energy recovery function has emerged as the times require and is an essential basic function. At the same time, it also reduces the wear of the brake system friction pads and the maintenance cost of end-users.
[0003] The current mature application technologies include energy recovery in pure braking conditions, or energy recovery by superimposing coasting energy recovery on braking conditions, or pure coasting energy recovery. Among them, the scheme of superimposing coasting recovery on braking recovery is the one chosen by most current automobile manufacturers. Only energy recovery in coasting conditions without braking conditions greatly reduces the energy recovery efficiency during the vehicle's life cycle and is not an optimal solution. Similarly, only energy recovery in braking conditions without coasting conditions lacks the energy recovery and utilization of the coasting part and is not an optimal solution either. Therefore, at the present stage, the energy recovery intensity of the vehicle under different working conditions is not comprehensively considered, which greatly reduces the energy recovery utilization rate. Summary of the Invention
[0004] In order to overcome the problem that the energy recovery intensity of the vehicle under different working conditions is not comprehensively considered at the present stage, which greatly reduces the energy recovery utilization rate, the present invention provides an energy recovery method, system and related equipment based on vehicle stability.
[0005] In the first aspect, to solve the above technical problems, the present invention provides an energy recovery method based on vehicle stability, including:
[0006] Obtain the deceleration of the vehicle under the current working condition, and determine the total target braking torque according to the deceleration;
[0007] Based on vehicle parameters, determine the braking torque distribution coefficients of the front axle and the rear axle;
[0008] Based on the total target braking torque and the braking torque distribution coefficient of the front axle, determine the target braking torque of the front axle, and based on the total target braking torque and the braking torque distribution coefficient of the rear axle, determine the target braking torque of the rear axle;
[0009] Based on the target braking torque of the front axle, the maximum allowable recovery capacity of the front axle and the preset vehicle stability coefficient, determine the front axle energy recovery torque strategy, and based on the target braking torque of the rear axle, the maximum allowable recovery capacity of the rear axle and the preset vehicle stability coefficient, determine the rear axle energy recovery torque strategy.
[0010] In the second aspect, the present invention provides an energy recovery system based on vehicle stability, including:
[0011] The total target braking torque acquisition module is used to acquire the deceleration of the vehicle under the current working condition and determine the total target braking torque according to the deceleration;
[0012] The braking torque distribution coefficient acquisition module is used to determine the braking torque distribution coefficients of the front axle and the rear axle based on vehicle parameters;
[0013] The target braking torque acquisition module is used to determine the target braking torque of the front axle based on the total target braking torque and the braking torque distribution coefficient of the front axle, and determine the target braking torque of the rear axle according to the total target braking torque and the braking torque distribution coefficient of the rear axle;
[0014] The energy recovery torque strategy execution module is used to determine the front axle energy recovery torque strategy based on the target braking torque of the front axle, the maximum allowable recovery capacity of the front axle and the preset vehicle stability coefficient, and determine the rear axle energy recovery torque strategy based on the target braking torque of the rear axle, the maximum allowable recovery capacity of the rear axle and the preset vehicle stability coefficient.
[0015] In a third aspect, the present invention provides a computing device, including a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, the steps of an energy recovery method based on vehicle stability as described above are implemented.
[0016] In a fourth aspect, the present invention provides a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a terminal device, the terminal device is caused to execute the steps of an energy recovery method based on vehicle stability as described above.
[0017] The beneficial effects of the present invention are as follows: Based on the deceleration under different working conditions, the total target braking torque is calculated. At the same time, different braking torque distribution coefficients are assigned to the front axle and the rear axle, that is, the target braking torque of the front axle / rear axle is obtained. Finally, through the target braking torque of the front axle / rear axle, the maximum allowable recovery capacity of the front axle / rear axle and the preset vehicle stability coefficient, the energy recovery torque strategy of the front axle / rear axle is executed. This application comprehensively and coordinately considers the energy recovery under different working conditions, and introduces a preset vehicle stability coefficient to plan the energy recovery torque strategy to judge whether the vehicle is stable, improving the utilization rate of energy recovery. Description of the Drawings
[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below with reference to the drawings and embodiments.
[0019] Figure 1 It is a schematic flowchart of an energy recovery method based on vehicle stability according to an embodiment of the present invention;
[0020] Figure 2Schematic diagram of an energy recovery system based on vehicle stability according to an embodiment of the present invention. Detailed implementation manners
[0021] The following embodiments are further explanations and supplements to the present invention and do not constitute any limitation to the present invention.
[0022] The following describes an energy recovery method, system and related equipment based on vehicle stability according to an embodiment of the present invention with reference to the accompanying drawings.
[0023] As Figure 1 shown, an embodiment of the present invention provides an energy recovery method based on vehicle stability, including:
[0024] S1. Obtain the deceleration of the vehicle under different working conditions, and determine the total target braking torque according to the deceleration.
[0025] In this embodiment, different working conditions include the working conditions corresponding to vehicle coasting, vehicle braking and vehicle intelligent driving. Among them, when the vehicle is in the coasting condition, the deceleration is obtained by the vehicle control unit; when the vehicle is in the braking condition, the deceleration is obtained by the braking control unit; when the vehicle is in the intelligent driving condition, the deceleration is obtained by the intelligent driving control unit.
[0026] The calculation method of the total target braking torque for each working condition in this embodiment is as follows:
[0027] When the vehicle is in non-intelligent driving (manual driving), the corresponding building pressure P is obtained by looking up a table according to the push rod displacement s of the pedal depressed by the driver (obtained by the stroke sensor). The s-P conversion table is obtained by matching and calculating according to the parameters of the vehicle braking system and combining the requirements of braking regulations and braking styles. The pressure P is converted into the braking force Fx and then into the torque Mb.
[0028] When the vehicle is in the coasting condition, the total target braking torque is: MbTotal = MbCoast, where MbTotal represents the total target braking torque, and MbCoast represents the Mb provided by the vehicle control unit.
[0029] When the vehicle is in intelligent driving, the total target braking torque is: MbTotal = MbAutomatic, where MbAutomatic represents the set target Ax provided by the vehicle control unit, and then the set target Ax is combined with the vehicle parameters to be converted into Mb.
[0030] S2. Based on the vehicle parameters, determine the braking torque distribution coefficients of the front axle and the rear axle.
[0031] S3. Determine the target braking torque of the front axle based on the total target braking torque and the braking torque distribution coefficient of the front axle, and determine the target braking torque of the rear axle according to the total target braking torque and the braking torque distribution coefficient of the rear axle.
[0032] S4. Determine the front axle energy recovery torque strategy based on the target braking torque of the front axle, the maximum allowable recovery capacity of the front axle, and the preset vehicle stability coefficient, and determine the rear axle energy recovery torque strategy based on the target braking torque of the rear axle, the maximum allowable recovery capacity of the rear axle, and the preset vehicle stability coefficient.
[0033] In this embodiment, the preset vehicle stability coefficient needs to be calculated according to comprehensive factors, such as calculating according to vehicle lateral / longitudinal / yaw, or calculating according to the deceleration of the vehicle under different working conditions, or calculating according to the pedal rate, or calculating according to the anti-lock function, drag torque control, and dynamic control function.
[0034] For example, when the anti-lock function is turned on, the preset vehicle stability coefficient is obtained according to the wheel slip rate / vehicle slip rate threshold, and the vehicle slip rate threshold = max(wheel unstable slip threshold + deviation, minimum slip controlled by ABS), where max(a, b) represents taking the maximum value between a and b.
[0035] In this embodiment, the total target braking torque is calculated based on the deceleration under different working conditions, and different braking torque distribution coefficients are assigned to the front axle and the rear axle, that is, the target braking torque of the front axle / rear axle is obtained. Finally, through the target braking torque of the front axle / rear axle, the maximum allowable recovery capacity of the front axle / rear axle, and the preset vehicle stability coefficient, the energy recovery torque strategy of the front axle / rear axle is executed. This application comprehensively and coordinately considers the energy recovery under different working conditions, and introduces a preset vehicle stability coefficient to plan the energy recovery torque strategy to judge whether the vehicle is stable, improving the utilization rate of energy recovery.
[0036] Optionally, determining the target braking torque of the front axle based on the total target braking torque and the braking torque distribution coefficient of the front axle, and determining the target braking torque of the rear axle according to the total target braking torque and the braking torque distribution coefficient of the rear axle, includes:
[0037] Determine the target braking torque of the front axle based on the product of the total target braking torque and the braking torque distribution coefficient of the front axle;
[0038] Determine the target braking torque of the rear axle based on the product of the total target braking torque and the braking torque distribution coefficient of the rear axle.
[0039] In this embodiment, the target braking torque of the front axle = total target braking torque * braking torque distribution coefficient of the front axle.
[0040] In this embodiment, the target braking torque of the rear axle = the total target braking torque * the braking torque distribution coefficient of the rear axle.
[0041] In this embodiment, the braking torque distribution coefficient is determined by the ideal-actual braking force distribution method according to the matching requirements of the braking system. The front and rear braking forces are distributed based on the β curve (β = front brake force / total front and rear brake forces, e.g., 0.57). At the same time, corresponding configurations need to be made according to different vehicle parameters, such as:
[0042] If the vehicle parameter is four-wheel drive and the total braking torque of the vehicle with energy recovery (including hydraulic and electric braking torques), the hydraulic part is defaultly distributed for the front and rear axle braking torques according to the β curve, and the electric braking part is also distributed according to β for the front and rear axles.
[0043] If the vehicle parameter is front-wheel drive, the braking torque distribution coefficient of the front axle is 1, then the braking torque distribution coefficient of the rear axle is 0.
[0044] If the vehicle parameter is rear-wheel drive, the braking torque distribution coefficient of the rear axle is 1, then the braking torque distribution coefficient of the front axle is 0.
[0045] Optionally, based on the target braking torque of the front axle, the maximum allowable recovery capacity of the front axle, and the preset vehicle stability coefficient, determine the front axle energy recovery torque strategy, and based on the target braking torque of the rear axle, the maximum allowable recovery capacity of the rear axle, and the preset vehicle stability coefficient, determine the rear axle energy recovery torque strategy, including:
[0046] Based on the maximum allowable recovery capacity of the front axle and the preset vehicle stability coefficient, determine the front axle recovery limit boundary;
[0047] Based on the front axle recovery limit boundary and the target braking torque of the front axle, determine the target energy recovery torque that can be executed by the front axle;
[0048] Based on the target braking torque of the front axle and the target energy recovery torque that can be executed by the front axle, control the energy recovery execution controller to execute the front axle energy recovery torque strategy;
[0049] Based on the maximum allowable recovery capacity of the rear axle and the preset vehicle stability coefficient, determine the rear axle recovery limit boundary;
[0050] Based on the rear axle recovery limit boundary and the target braking torque of the rear axle, determine the target energy recovery torque that can be executed by the rear axle;
[0051] Based on the target braking torque of the rear axle and the target energy recovery torque that can be executed by the rear axle, control the energy recovery execution controller to execute the rear axle energy recovery torque strategy.
[0052] In this embodiment, the front axle recovery limit boundary = the maximum allowable recovery capacity of the front axle * the preset vehicle stability coefficient.
[0053] In this embodiment, the front axle recovery limit boundary = the maximum recovery capacity allowed by the rear axle * a preset vehicle stability coefficient.
[0054] In this embodiment, the target energy recovery torque executable by the front axle = the target braking torque of the front axle - min((the target braking torque of the front axle - min(the target braking torque of the front axle, the front axle recovery limit boundary)), the target braking torque of the front axle), where min(a, b) represents taking the minimum value between a and b.
[0055] In this embodiment, the target energy recovery torque executable by the rear axle = the target braking torque of the rear axle - min((the target braking torque of the rear axle - min(the target braking torque of the rear axle, the rear axle recovery limit boundary)), the target braking torque of the rear axle).
[0056] In this embodiment, the energy recovery torque strategy involves two controllers, namely the energy recovery strategy controller IBCU and the energy recovery execution controller VCU; among them, in addition to responding to and executing the energy recovery target torque, VCU needs to provide the deceleration (coasting torque) under the coasting condition according to the vehicle situation. This part involves non-braking conditions, and it is reasonable to be provided by the VCU vehicle controller. As the actuator for responding to and executing energy recovery, VCU also needs to provide the maximum energy recovery capacity of the front / rear axles and related identifiers, as well as the actually responded energy recovery torque and identifiers.
[0057] Optionally, based on the target braking torque of the front axle and the target energy recovery torque executable by the front axle, controlling the energy recovery execution controller to execute the energy recovery torque strategy of the front axle includes:
[0058] Based on the target braking torque of the front axle and the target energy recovery torque executable by the front axle, determining the compensated hydraulic braking torque of the front axle;
[0059] If the coasting torque required by the energy recovery actuator is greater than the recovery torque boundary value of the front axle, then controlling the energy recovery strategy controller to provide the compensated hydraulic braking torque of the front axle;
[0060] Based on the target braking torque of the rear axle and the target energy recovery torque executable by the rear axle, controlling the energy recovery execution controller to execute the energy recovery torque strategy of the rear axle includes:
[0061] Based on the target braking torque of the rear axle and the target energy recovery torque executable by the rear axle, determining the compensated hydraulic braking torque of the rear axle;
[0062] If the coasting torque required by the energy recovery actuator is greater than the recovery torque boundary value of the rear axle, then controlling the energy recovery strategy controller to provide the compensated hydraulic braking torque of the rear axle.
[0063] In this embodiment, the compensated hydraulic braking torque of the front axle = the target braking torque of the front axle - the target energy recovery torque that the front axle can execute.
[0064] In this embodiment, the compensated hydraulic braking torque of the rear axle = the target braking torque of the rear axle - the target energy recovery torque that the rear axle can execute.
[0065] In this embodiment, when the coasting torque required by the energy recovery actuator is greater than the recovery torque boundary value of the front axle, the IBCU needs to compensate for the excess part with hydraulic braking force (compensated hydraulic braking torque), and the target total braking force is also obtained.
[0066] Optionally, based on the target braking torque of the front axle, the maximum allowable recovery capacity of the front axle, and a preset vehicle stability coefficient, determine the front axle energy recovery torque strategy, and based on the target braking torque of the rear axle, the maximum allowable recovery capacity of the rear axle, and a preset vehicle stability coefficient, determine the rear axle energy recovery torque strategy, further including:
[0067] If the coasting torque required by the energy recovery actuator accidentally exits, the maximum recovery torque capacity value is abnormal, or the torque response execution is abnormal, then control the energy recovery strategy controller to exit the target request for the energy recovery torque and generate a request for the hydraulic braking torque.
[0068] In this embodiment, according to the above energy recovery torque strategy, the vehicle controller responds to the target recovery torque and will feedback the actually executed energy recovery torque. If this causes the wheel speed of the drive motor to decrease under relevant working conditions (such as low adhesion / separated road conditions), the wheel speed / axle speed changes, and the vehicle becomes unstable, such as triggering the ABS. At this time, the IBCU needs to exit the target request for the energy recovery torque and instead request the hydraulic braking torque to ensure the target total braking force.
[0069] Optionally, controlling the energy recovery strategy controller to exit the target request for the energy recovery torque and generate a request for the hydraulic braking torque further includes:
[0070] Correct the preset vehicle stability coefficient and intervene in the stability control function.
[0071] In this embodiment, by correcting the preset vehicle stability coefficient and introducing the stability control function, the vehicle can enter a stable state again, avoiding the vehicle instability caused by the failure of the electric braking.
[0072] As Figure 2 shown, the present invention provides an energy recovery system based on vehicle stability, including:
[0073] A total target braking torque acquisition module, configured to acquire the deceleration of the vehicle under the current working condition and determine the total target braking torque according to the deceleration;
[0074] A braking torque distribution coefficient acquisition module, configured to determine the braking torque distribution coefficients of the front axle and the rear axle based on vehicle parameters;
[0075] A target braking torque acquisition module, configured to determine the target braking torque of the front axle based on the total target braking torque and the braking torque distribution coefficient of the front axle, and determine the target braking torque of the rear axle according to the total target braking torque and the braking torque distribution coefficient of the rear axle;
[0076] An energy recovery torque strategy execution module, configured to determine the front axle energy recovery torque strategy based on the target braking torque of the front axle, the maximum allowable recovery capacity of the front axle, and a preset vehicle stability coefficient, and determine the rear axle energy recovery torque strategy based on the target braking torque of the rear axle, the maximum allowable recovery capacity of the rear axle, and a preset vehicle stability coefficient.
[0077] Optionally, the target braking torque acquisition module is specifically configured to:
[0078] Determine the target braking torque of the front axle based on the product of the total target braking torque and the braking torque distribution coefficient of the front axle;
[0079] Determine the target braking torque of the rear axle based on the product of the total target braking torque and the braking torque distribution coefficient of the rear axle.
[0080] Optionally, the energy recovery torque strategy execution module is specifically configured to:
[0081] Determine the front axle recovery limit boundary based on the maximum allowable recovery capacity of the front axle and a preset vehicle stability coefficient;
[0082] Determine the target energy recovery torque executable by the front axle based on the front axle recovery limit boundary and the target braking torque of the front axle;
[0083] Control the energy recovery execution controller to execute the energy recovery torque strategy of the front axle based on the target braking torque of the front axle and the target energy recovery torque executable by the front axle;
[0084] Determine the rear axle recovery limit boundary based on the maximum allowable recovery capacity of the rear axle and a preset vehicle stability coefficient;
[0085] Determine the target energy recovery torque executable by the rear axle based on the rear axle recovery limit boundary and the target braking torque of the rear axle;
[0086] Control the energy recovery execution controller to execute the energy recovery torque strategy of the rear axle based on the target braking torque of the rear axle and the target energy recovery torque executable by the rear axle.
[0087] Optionally, the energy recovery torque strategy execution module is specifically configured to:
[0088] Determine the compensated hydraulic braking torque of the front axle based on the target braking torque of the front axle and the target energy recovery torque executable by the front axle;
[0089] If the coasting torque required by the energy recovery actuator is greater than the recovery torque boundary value of the front axle, control the energy recovery strategy controller to provide the compensated hydraulic braking torque of the front axle;
[0090] Determine the compensated hydraulic braking torque of the rear axle based on the target braking torque of the rear axle and the target energy recovery torque executable by the rear axle;
[0091] If the coasting torque required by the energy recovery actuator is greater than the recovery torque boundary value of the rear axle, control the energy recovery strategy controller to provide the compensated hydraulic braking torque of the rear axle.
[0092] Optionally, the system further includes an energy recovery exit module, which is specifically used for:
[0093] If the coasting torque required by the energy recovery actuator exits unexpectedly, the maximum recovery torque capacity value is abnormal, or the torque response execution is abnormal, control the energy recovery strategy controller to exit the target request for the energy recovery torque and generate a request for the hydraulic braking torque.
[0094] Optionally, the energy recovery exit module is further used for:
[0095] Correct the preset vehicle stability coefficient and intervene in the stability control function.
[0096] The embodiment of the present invention further provides a computing device, including a memory, a manager, and a program stored on the memory and running on the manager. When the manager executes the program, it implements some or all of the steps of the above-mentioned energy recovery method based on vehicle stability.
[0097] Among them, the computing device can be a computer. Correspondingly, its program is computer software, and the above parameters and steps in the computing device of the present invention can refer to the parameters and steps in the embodiments of the energy recovery method based on vehicle stability in the above text, which will not be elaborated here.
[0098] Those skilled in the art of the present technology know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be specifically implemented in the following forms: it can be entirely hardware, can be entirely software (including firmware, resident software, microcode, etc.), or can also be in the form of a combination of hardware and software, which is generally referred to as "circuit", "module", or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, which contain computer-readable program code. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above.
[0099] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0100] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.
Claims
1. A method for energy recovery based on vehicle stability, characterized in that: include: Obtaining the deceleration of the vehicle under different working conditions, and determining the total target braking torque according to the deceleration; Based on the vehicle parameters, determining the brake torque distribution coefficients of the front axle and the rear axle; Determining a target braking torque of the front axle based on the total target braking torque and the braking torque distribution coefficient of the front axle, and determining a target braking torque of the rear axle based on the total target braking torque and the braking torque distribution coefficient of the rear axle; Based on the target braking torque of the front axle, the maximum recovery capacity allowed by the front axle and the preset vehicle stability coefficient, the front axle energy recovery torque strategy is determined; and based on the target braking torque of the rear axle, the maximum recovery capacity allowed by the rear axle and the preset vehicle stability coefficient, the rear axle energy recovery torque strategy is determined.
2. The method according to claim 1, characterized in that The step of determining the target braking torque of the front axle based on the total target braking torque and the braking torque distribution coefficient of the front axle, and determining the target braking torque of the rear axle based on the total target braking torque and the braking torque distribution coefficient of the rear axle includes: determining a target braking torque of the front axle based on a product of the total target braking torque and a braking torque distribution coefficient of the front axle; The target braking torque of the rear axle is determined based on the product of the total target braking torque and the braking torque distribution coefficient of the rear axle.
3. The method according to claim 2, characterized in that The method of determining the front axle energy recovery torque strategy based on the target braking torque of the front axle, the maximum recovery capability allowed by the front axle and the preset vehicle stability coefficient, and the method of determining the rear axle energy recovery torque strategy based on the target braking torque of the rear axle, the maximum recovery capability allowed by the rear axle and the preset vehicle stability coefficient, includes: Determine the front axle recovery limit boundary based on the maximum recovery capability allowed by the front axle and the preset vehicle stability factor; Determining a target energy recovery torque executable by the front axle based on the front axle recovery limit boundary and the target braking torque of the front axle; Controlling the energy recovery execution controller to execute the energy recovery torque strategy of the front axle based on the target braking torque of the front axle and the target energy recovery torque executable by the front axle; Determine the rear axle recovery limit boundary based on the maximum recovery capability allowed by the rear axle and the preset vehicle stability factor; Determining a target energy recovery torque executable by the rear axle based on a rear axle recovery limit boundary and a target braking torque of the rear axle; Based on the target braking torque of the rear axle and the target energy recovery torque executable by the rear axle, the energy recovery execution controller is controlled to execute the energy recovery torque strategy of the rear axle.
4. The method according to claim 3, characterized in that The method of controlling the energy recovery execution controller to execute the energy recovery torque strategy of the front axle based on the target braking torque of the front axle and the target energy recovery torque executable by the front axle includes: determining a compensating hydraulic braking torque of the front axle based on the target braking torque of the front axle and the target energy recovery torque executable by the front axle; If the coasting torque required by the energy recovery actuator is greater than the recovery torque boundary value of the front axle, controlling the energy recovery strategy controller to provide the compensating hydraulic braking torque of the front axle; Based on the target braking torque of the rear axle and the target energy recovery torque executable by the rear axle, the energy recovery execution controller is controlled to execute the energy recovery torque strategy of the rear axle, including: determining a compensation hydraulic braking torque of the rear axle based on the target braking torque of the rear axle and the target energy recovery torque executable by the rear axle; If the coasting torque required by the energy recovery actuator is greater than the recovery torque boundary value of the rear axle, the energy recovery strategy controller is controlled to provide the compensating hydraulic braking torque of the rear axle.
5. The method according to claims 1-5, characterized in that: The method further includes: If the coasting torque required by the energy recovery actuator is unexpectedly terminated, the maximum recovery torque capacity value is abnormal, or the torque response execution is abnormal, the energy recovery strategy controller is controlled to terminate the target request for the energy recovery torque and generate a request for the hydraulic braking torque.
6. The method according to claims 1-5, characterized in that: Controlling the energy recovery strategy controller to exit the target request for energy recovery torque and generate a request for hydraulic braking torque also includes: Correct the preset vehicle stability coefficient and intervene in the stability control function.
7. An energy recovery system based on vehicle stability, characterized in that: include: A total target braking torque acquisition module, used to acquire the deceleration of the vehicle under the current working condition, and determine the total target braking torque according to the deceleration; A braking torque distribution coefficient acquisition module, used to determine the braking torque distribution coefficients of the front axle and the rear axle based on vehicle parameters; a target braking torque acquisition module, configured to determine a target braking torque of the front axle based on the total target braking torque and the braking torque allocation coefficient of the front axle, and to determine a target braking torque of the rear axle based on the total target braking torque and the braking torque allocation coefficient of the rear axle; The energy recovery torque strategy execution module is used to determine the front axle energy recovery torque strategy based on the target braking torque of the front axle, the maximum recovery capacity allowed by the front axle and the preset vehicle stability coefficient, and to determine the rear axle energy recovery torque strategy based on the target braking torque of the rear axle, the maximum recovery capacity allowed by the rear axle and the preset vehicle stability coefficient.
8. The system according to claim 7, characterized in that The target braking torque acquisition module is specifically used for: determining a target braking torque of the front axle based on a product of the total target braking torque and a braking torque distribution coefficient of the front axle; The target braking torque of the rear axle is determined based on the product of the total target braking torque and the braking torque distribution coefficient of the rear axle.
9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the energy recovery method based on vehicle stability as described in any one of claims 1 to 6 are implemented.
10. A computer-readable storage medium, characterized in that: Instructions are stored in the computer-readable storage medium. When the instructions are executed on the terminal device, the terminal device executes the steps of the energy recovery method based on vehicle stability as described in any one of claims 1 to 6.