Vehicle energy recovery method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses a vehicle energy recovery method and device, a vehicle and a storage medium, belongs to the technical field of vehicle control, is applied to an intelligent four-wheel drive system of the vehicle, and comprises the steps that an energy recovery request signal sent by a power system controller of the vehicle is received, and the energy recovery request signal comprises an energy recovery strength parameter; based on the energy recovery request signal, the intelligent four-wheel-drive system enters a kinetic energy recovery mode and identifies a rotation angle signal of a steering wheel of the vehicle, in the kinetic energy recovery mode, the vehicle is in a two-wheel-drive state, and the two-wheel-drive state comprises a front-wheel-drive state or a rear-wheel-drive state; and according to the rotation angle signal and the energy recovery intensity parameter, the torque of the vehicle is loaded through the intelligent four-wheel drive system, so that the vehicle enters a four-wheel drive state, and energy recovery of the vehicle is carried out. The safety and energy recovery efficiency of the vehicle can be improved.

Description

Technical Field

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

[0002] With the development of new energy vehicles, hybrid vehicles have become widely popular, and with the improvement of people's living standards, higher requirements are placed on the intelligence and stability of the intelligent four-wheel drive systems equipped in hybrid vehicles.

[0003] In related technologies, when a vehicle is not accelerating or is decelerating, the intelligent four-wheel drive system generally assumes that the vehicle has no need to accelerate. At this time, energy recovery is performed, reducing the torque of the auxiliary vehicle-driven wheels to 0, and the vehicle is in a two-wheel drive state. For example, on low-adhesion roads, the friction is low, and the wheels are prone to slipping, resulting in a significant decrease in the vehicle's controllability and braking effect. Therefore, when driving on low-adhesion roads, the vehicle must slow down to ensure safety. At this time, the intelligent four-wheel drive system enters kinetic energy recovery mode, and the vehicle is in a two-wheel drive state, only recovering energy generated by the wheels used to drive the vehicle. Due to the excessive energy recovered from the wheels used to drive the vehicle, the vehicle's braking force is greater than the tire adhesion of the wheels used to drive the vehicle, which can easily cause problems such as tire locking of the wheels used to drive the vehicle, reducing the safety of the vehicle.

[0004] Therefore, after the vehicle enters the kinetic energy recovery mode, the vehicle is in a two-wheel drive state and cannot fully utilize the adhesion of the four tires. The vehicle is prone to safety problems such as tire locking, and the vehicle's energy recovery efficiency is low. Summary of the Invention

[0005] The purpose of the embodiment of the present application is to provide a method, device, vehicle and storage medium for vehicle energy recovery, which obtains an energy recovery request signal and a steering wheel rotation angle signal of the vehicle through the vehicle's intelligent four-wheel drive system, determines that the intelligent four-wheel drive system enters a kinetic energy recovery mode according to the energy recovery request signal, and after entering the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the intelligent four-wheel drive system loads the vehicle's torque to put the vehicle into a four-wheel drive state. This can solve safety problems such as the vehicle's tires being prone to locking, and the problem of low energy recovery efficiency of the vehicle. To solve the above technical problems, the embodiments of the present application are implemented as follows: In the first aspect, an embodiment of the present application provides a method for vehicle energy recovery, which is applied to an intelligent four-wheel drive system of a vehicle, the method comprising: receiving an energy recovery request signal issued by a power system controller of the vehicle, the energy recovery request signal comprising an energy recovery intensity parameter; based on the energy recovery request signal, causing the intelligent four-wheel drive system to enter a kinetic energy recovery mode, and identifying a rotation angle signal of the steering wheel of the vehicle, wherein, in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state comprises: a front-wheel drive state or a rear-wheel drive state; according to the rotation angle signal and the energy recovery intensity parameter, the torque of the vehicle is loaded through the intelligent four-wheel drive system, causing the vehicle to enter a four-wheel drive state, and performing energy recovery of the vehicle.

[0006] Optionally, the loading of the torque of the vehicle through the four-wheel drive system according to the rotation angle signal and the energy recovery intensity parameter includes: determining a rotation angle of the steering wheel according to the identified rotation angle signal; When the rotation angle is less than or equal to a first preset angle, determining a corresponding torque value of the vehicle torque based on the energy recovery intensity parameter; wherein the energy recovery intensity parameter is one of a plurality of preset energy recovery intensity parameters of different degrees; The torque is loaded through the intelligent four-wheel drive system according to the torque value of the torque.

[0007] Optionally, after determining the rotation angle of the steering wheel according to the identified rotation angle signal, the method further includes: When the rotation angle is greater than a first preset angle and less than a second preset angle, and the rotation angle gradually increases, the torque is applied by the intelligent four-wheel drive system; wherein the torque value of the applied torque gradually decreases, and the torque value is negatively correlated with the rotation angle; When the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle remains unchanged, the torque value of the torque corresponding to the current rotation angle is maintained by the intelligent four-wheel drive system.

[0008] Optionally, after determining the rotation angle of the steering wheel based on the identified rotation angle signal, the method further includes: when the rotation angle is greater than or equal to a second preset angle, reducing the torque value of the torque to a preset value through the intelligent four-wheel drive system.

[0009] Optionally, the method also includes: when the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases, based on the energy recovery intensity parameter, determining the change rate of the torque value of the torque corresponding to the rotation angle, and gradually reducing the torque value of the loaded torque according to the change rate, the change rate is less than 0, and the absolute value of the change rate is positively correlated with the energy recovery intensity parameter.

[0010] Optionally, based on the energy recovery intensity parameter, the torque value of the corresponding vehicle torque is determined, including: determining the torque value corresponding to the energy recovery intensity parameter according to the energy recovery intensity parameter, wherein the energy recovery intensity parameter is positively correlated with the torque value corresponding to the energy recovery intensity parameter; and adjusting the torque value of the vehicle torque to the torque value corresponding to the energy recovery intensity parameter according to the torque value corresponding to the energy recovery intensity parameter.

[0011] Optionally, the method includes: presetting a torque loading rate when the intelligent four-wheel drive system enters the kinetic energy recovery mode based on historical driving data of the vehicle, wherein the loading rate represents a speed at which the torque value of the torque is loaded when the intelligent four-wheel drive system enters the kinetic energy recovery mode; and Based on the historical movement data of the vehicle, the release rate of the torque when the intelligent four-wheel drive system exits the kinetic energy recovery mode is pre-set, and the release rate represents the speed at which the torque value of the loaded torque is released when the intelligent four-wheel drive system exits the kinetic energy recovery mode.

[0012] Optionally, the method further comprises: loading the torque of the vehicle through the intelligent four-wheel drive system according to the rotation angle signal and the energy recovery intensity parameter; The torque of the vehicle is loaded through the intelligent four-wheel drive system according to the rotation angle signal, the driving speed of the vehicle and the energy recovery intensity parameter.

[0013] In a second aspect, an embodiment of the present application provides a device for vehicle energy recovery, which is applied to a vehicle's intelligent four-wheel drive system, the device comprising: a receiving module for receiving an energy recovery request signal issued by a power system controller of the vehicle, the energy recovery request signal comprising an energy recovery intensity parameter; an identification module for enabling the intelligent four-wheel drive system to enter a kinetic energy recovery mode based on the energy recovery request signal, and identifying a steering wheel rotation angle signal of the vehicle, wherein in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state comprises a front-wheel drive state or a rear-wheel drive state; an energy recovery module for loading the torque of the vehicle through the intelligent four-wheel drive system according to the rotation angle signal and the energy recovery intensity parameter, enabling the vehicle to enter a four-wheel drive state, and performing energy recovery of the vehicle.

[0014] In a third aspect, an embodiment of the present application provides a vehicle, comprising a processor and a memory electrically connected to the processor, wherein the memory stores a computer program, and the processor is used to call and execute the computer program from the memory to implement the above-mentioned vehicle energy recovery method.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program can be executed by a processor to implement the above-mentioned vehicle energy recovery method.

[0016] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the above-mentioned vehicle energy recovery method.

[0017] The technical solution of the embodiment of the present application is adopted and applied to the intelligent four-wheel drive system of the vehicle, which receives an energy recovery request signal issued by the vehicle's power system controller, and the energy recovery request signal includes an energy recovery intensity parameter; based on the energy recovery request signal, the intelligent four-wheel drive system enters the kinetic energy recovery mode, and identifies the steering wheel rotation angle signal of the vehicle, wherein, in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state includes: front-wheel drive state or rear-wheel drive state; according to the rotation angle signal and the energy recovery intensity parameter, the vehicle's torque is loaded through the intelligent four-wheel drive system, so that the vehicle enters the four-wheel drive state, and the vehicle's energy recovery is performed. As can be seen, the energy recovery request signal issued by the powertrain controller causes the intelligent four-wheel drive system to enter the kinetic energy recovery mode. In this kinetic energy recovery mode, the vehicle is in a two-wheel drive state. When in the front-wheel drive state, the rear-wheel drive torque of the vehicle is zero, and when in the rear-wheel drive state, the front-wheel drive torque of the vehicle is zero. By identifying the steering wheel rotation angle signal and constantly monitoring the steering wheel rotation angle based on the rotation angle signal and the energy recovery intensity parameter in the energy recovery request signal, the steering wheel rotation angle is prevented from being loaded with vehicle torque in large turning angles, which could lead to excessive torque loading in large turning angles and safety issues such as vehicle rollover. Therefore, based on the rotation angle signal, the intelligent four-wheel drive system loads the vehicle torque to enter the four-wheel drive state, while ensuring safe driving of the vehicle. It should be understood that when the two-wheel drive state of the vehicle is the front-wheel drive state, the vehicle torque loading is the rear-wheel drive torque loading, and when the two-wheel drive state is the rear-wheel drive state, the vehicle torque loading is the front-wheel drive torque loading. This fully utilizes the adhesion of all four tires, loads the vehicle torque, and performs energy recovery while ensuring safe driving, thereby improving the efficiency of the vehicle's energy recovery.

[0018] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference symbols are used throughout the drawings to represent the same components. In the drawings: Figure 1 is a schematic structural diagram of an intelligent four-wheel drive system for a vehicle according to an embodiment of the present application; Figure 2 is a schematic flow chart of a vehicle energy recovery method according to an embodiment of the present application; Figure 3is a functional execution diagram of a vehicle energy recovery method according to an embodiment of the present application; Figure 4 This is a schematic block diagram of an application based on a vehicle intelligent four-wheel drive system according to an embodiment of the present application; Figure 5 is a schematic flow chart of a scenario of a method for vehicle energy recovery according to an embodiment of the present application; Figure 6 is a schematic block diagram of a vehicle energy recovery device according to an embodiment of the present application; Figure 7 This is a schematic diagram of the hardware structure of a vehicle energy recovery device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] Embodiments of the present application provide a method, device, vehicle, and storage medium for vehicle energy recovery, to solve the problem of low vehicle energy recovery efficiency.

[0021] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0022] The vehicle energy recovery method provided in the embodiments of the present application can be executed by an electronic device or by software installed in the electronic device. Specifically, the electronic device can be a terminal device or a server device. The terminal device can include an in-vehicle terminal, etc., and the server device can include an independent physical server, a server cluster consisting of multiple servers, or a cloud server capable of cloud computing.

[0023] The following describes in detail a vehicle energy recovery method provided by an embodiment of the present application through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0024] In order to reduce vehicle energy consumption and increase vehicle range, hybrid vehicles currently usually have an energy recovery function. When the driver releases the accelerator pedal or steps on the brake pedal, the energy recovery function is activated, and the electric motor reacts to become a generator. When the vehicle is not accelerating or decelerating, the wheels drive the electric motor to rotate. The electric motor then works as a generator, generating current to charge the battery. This function converts the vehicle's kinetic energy into electrical energy, and is equivalent to applying a certain braking force to the wheel end to slow the vehicle down. In addition, the intensity of energy recovery can be adjusted according to the driver's needs.

[0025] Typically, during vehicle-wide energy recovery, the vehicle's intelligent all-wheel-drive system also enters kinetic energy recovery mode, assuming the vehicle has no need to accelerate and reverting to two-wheel drive. During energy recovery, the system cannot fully utilize the adhesion of all four tires, and can only recycle the energy generated by the two-wheel drive system, which primarily propels the vehicle. This results in lower energy recovery efficiency. The intelligent all-wheel-drive system enters kinetic energy recovery mode upon receiving an energy recovery request signal. It also obtains vehicle angle information from the vehicle's steering wheel rotation angle signal to prevent excessive torque loading at high corners, which could pose a safety risk. While monitoring the steering wheel rotation angle signal, the system applies torque and performs energy recovery. This energy recovery method ensures safe driving by placing the vehicle in four-wheel drive mode and utilizing the adhesion generated by the four-wheel drive system to recycle energy. This fully recycles energy generated by all four wheels, improving the energy recovery efficiency of the intelligent all-wheel-drive system.

[0026] like Figure 1 As shown, Figure 1 The intelligent four-wheel drive system for a vehicle according to one embodiment of the present application is a schematic diagram of the structure. The intelligent four-wheel drive system includes a transfer case controller and a transfer case. Specifically, the transfer case controller is used to determine whether the intelligent four-wheel drive system activates or exits the kinetic energy recovery mode by identifying the vehicle's engine torque signal, accelerator pedal signal, gear position signal, and steering wheel rotation angle signal. It also calculates the torque value required by the vehicle's front or rear axle in real time and controls the engagement of the friction plates within the transfer case based on the calculated torque value to load the vehicle's torque. The transfer case is a vehicle transmission device that distributes the power output from the transmission to each drive axle. The intelligent four-wheel drive system can activate the kinetic energy recovery mode through the transfer case controller. In the kinetic energy recovery mode, the transfer case controller in the intelligent four-wheel drive system can load the vehicle's torque and distribute the torque to the vehicle's wheels through the transfer case. The intelligent four-wheel drive system also constantly obtains the steering wheel rotation angle signal to prevent excessive torque loading on the vehicle during large corners, which could lead to safety issues such as rollover. While ensuring vehicle safety, the system can fully utilize the adhesion of the vehicle's four tires to improve the vehicle's energy recovery efficiency.

[0027] like Figure 2 As shown, Figure 2 A schematic flow chart of a vehicle energy recovery method provided by one embodiment of the present invention is shown. The method is applied to an intelligent four-wheel drive system of a vehicle and includes the following steps: S202 : Receive an energy recovery request signal sent by a power system controller of a vehicle, where the energy recovery request signal includes an energy recovery intensity parameter.

[0028] The powertrain controller is the main controller of the hybrid system, responsible for managing the entire powertrain and issuing energy recovery request signals generated by the vehicle. Generally, the vehicle includes a hybrid vehicle.

[0029] The energy recovery request signal is used to enable the intelligent four-wheel drive system to enter the kinetic energy recovery mode. Specifically, the powertrain controller sends the vehicle's energy recovery request signal, and the intelligent four-wheel drive system receives the energy recovery request signal as well as signals such as the accelerator pedal signal and the gear position signal, and then identifies the vehicle's condition. For example, when the driver releases the accelerator pedal or steps on the brake pedal, the vehicle decelerates or brakes, and the vehicle generates an energy recovery request signal. The powertrain controller sends the energy recovery request signal to the intelligent four-wheel drive system, which receives the energy recovery request signal. At this time, based on the energy recovery intensity parameter in the energy recovery request signal, the intelligent four-wheel drive system can activate the kinetic energy recovery mode.

[0030] The energy regeneration intensity parameter includes the degree to which the regenerative energy generated by the hybrid vehicle's motor is recovered and fed back to the battery system during deceleration or braking, which can improve the vehicle's energy efficiency and range. The stronger the energy regeneration request signal, the greater the energy regeneration intensity and the higher the energy regeneration intensity parameter.

[0031] S204 , based on the energy recovery request signal, the intelligent four-wheel drive system enters a kinetic energy recovery mode and identifies a rotation angle signal of the vehicle's steering wheel. In the kinetic energy recovery mode, the vehicle is in a two-wheel drive state.

[0032] The two-wheel drive state includes: front-wheel drive state or rear-wheel drive state. Specifically, when the two-wheel drive state is the front-wheel drive state, the front wheels are the main wheels and the rear wheels are the auxiliary wheels. At this time, the rear-wheel drive torque of the vehicle is 0; when the two-wheel drive state is the rear-wheel drive state, the rear wheels are the main wheels and the front wheels are the auxiliary wheels. At this time, the front-wheel drive torque of the vehicle is 0.

[0033] The kinetic energy recovery mode is used to convert the kinetic energy generated by the vehicle when decelerating or braking into electrical energy and store it in the vehicle's battery for subsequent use, thereby improving the vehicle's endurance. ‌‌

[0034] The steering angle signal is used to determine the vehicle's steering angle when turning or making a U-turn. The intelligent four-wheel drive system identifies the steering wheel angle signal from the combination switch.

[0035] Based on the energy recovery request signal received in S202, the intelligent four-wheel drive system is determined to enter kinetic energy recovery mode. At this time, the vehicle is in a deceleration or braking state. In kinetic energy recovery mode, the intelligent four-wheel drive system continuously monitors the vehicle's steering angle by obtaining a steering wheel angle signal to perform subsequent vehicle energy recovery. Intelligent four-wheel drive systems include systems primarily based on rear-wheel drive, such as Torque-On-Demand (TOD) four-wheel drive systems, and may also include systems primarily based on front-wheel drive.

[0036] Optionally, when the intelligent four-wheel drive system receives a request signal to exit energy recovery, the intelligent four-wheel drive system exits the kinetic energy recovery mode.

[0037] As an example, the triggering conditions of the kinetic energy recovery mode include: when the intelligent four-wheel drive system receives an energy recovery request signal from the power system controller, the energy recovery request signal includes an energy recovery intensity parameter, the entire vehicle enters the energy recovery state, and the intelligent four-wheel drive system enters the kinetic energy recovery mode, wherein the energy recovery intensity parameters corresponding to the energy recovery request signal correspond to standard, stronger and weaker parameters respectively. Since the vehicle is recovering energy, the vehicle may be in a braking or deceleration state at this time.

[0038] The exit conditions for the kinetic energy recovery mode include: when the intelligent four-wheel drive system receives an exit energy recovery request signal from the power system controller, the entire vehicle exits the energy recovery state and the intelligent four-wheel drive system exits the kinetic energy recovery mode. At this time, there is no need to recover the vehicle's energy, and the vehicle may be in an accelerating state or has stopped.

[0039] It should be noted that the kinetic energy recovery mode that the intelligent four-wheel drive system enters and exits is a mode of the intelligent four-wheel drive system, not the energy recovery mode of the entire vehicle. In other words, the intelligent four-wheel drive system will follow the energy recovery of the entire vehicle and enter its own kinetic energy recovery mode. In the kinetic energy recovery mode of the intelligent four-wheel drive system, the intelligent four-wheel drive system recovers the energy of the vehicle.

[0040] S206 , based on the rotation angle signal and the energy recovery intensity parameter, the vehicle torque is loaded through the intelligent four-wheel drive system to put the vehicle into a four-wheel drive state and perform energy recovery for the vehicle.

[0041] The four-wheel drive state includes: a state in which all four wheels of the vehicle have torque.

[0042] Loading the vehicle's torque refers to increasing the torque of the auxiliary vehicle's driven wheels to enable the vehicle to enter the four-wheel drive state from the two-wheel drive state. Specifically, the torque loaded on the vehicle is determined according to the vehicle's two-wheel drive state. For example, when the two-wheel drive state is the front-wheel drive state, the front wheels are primary and the rear wheels are secondary. At this time, the vehicle's rear-wheel drive torque is 0, so the vehicle's rear-wheel drive torque needs to be loaded; when the two-wheel drive state is the rear-wheel drive state, the rear wheels are primary and the front wheels are secondary. At this time, the vehicle's front-wheel drive torque is 0, so the vehicle's front-wheel drive torque needs to be loaded.

[0043] In the present application, when the intelligent four-wheel drive system is in the kinetic energy recovery mode, it will be considered that the vehicle has no need to accelerate, and the torque of the auxiliary vehicle-driven wheels will be reduced to 0, and the vehicle will become a two-wheel drive state. By loading the torque of the vehicle, the vehicle will enter the four-wheel drive state. For example, loading the vehicle with a front-wheel drive torque includes: controlling the engagement of the friction plates inside the transfer case by using the torque value calculated by the transfer case controller in the intelligent four-wheel drive system, and controlling the torque loaded to the front axle of the vehicle according to the degree of engagement. Loading the vehicle with a rear-wheel drive torque includes: controlling the engagement of the friction plates inside the transfer case by using the torque value calculated by the transfer case controller in the intelligent four-wheel drive system, and controlling the torque loaded to the rear axle of the vehicle according to the degree of engagement.

[0044] The vehicle's driving state is determined based on the steering angle signal and the energy recovery intensity parameter. Since the vehicle's direction is not fixed during driving, the steering angle signal must be constantly monitored. To ensure that the steering angle signal meets preset conditions, the intelligent four-wheel drive system applies torque to the vehicle based on the energy recovery intensity parameter. This prevents excessive steering angles from causing additional torque, which could lead to vehicle component damage or rollover. By applying torque based on the steering angle signal and the energy recovery intensity parameter, while ensuring stable vehicle driving, the system ensures that the vehicle maintains stable driving. This allows the adhesion of the vehicle's four tires to be fully utilized for energy recovery. In kinetic energy recovery mode, the vehicle is in a two-wheel drive state. In related art kinetic energy recovery modes, only the energy generated by the vehicle in the two-wheel drive state is recovered, or the torque in the two-wheel drive state is called or recalculated to distribute some of the torque of the main drive vehicle's wheels to the wheels of the auxiliary drive vehicle. Generally, no torque is applied to the wheels of the auxiliary drive vehicle during deceleration or braking.

[0045] The technical solution of the embodiment of the present application is adopted and applied to the intelligent four-wheel drive system of the vehicle, which receives an energy recovery request signal issued by the vehicle's power system controller, and the energy recovery request signal includes an energy recovery intensity parameter; based on the energy recovery request signal, the intelligent four-wheel drive system enters the kinetic energy recovery mode, and identifies the steering wheel rotation angle signal of the vehicle, wherein, in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state includes: front-wheel drive state or rear-wheel drive state; according to the rotation angle signal and the energy recovery intensity parameter, the vehicle's torque is loaded through the intelligent four-wheel drive system, so that the vehicle enters the four-wheel drive state, and the vehicle's energy recovery is performed. As can be seen, the energy recovery request signal issued by the powertrain controller causes the intelligent four-wheel drive system to enter the kinetic energy recovery mode. In this kinetic energy recovery mode, the vehicle is in a two-wheel drive state. When in the front-wheel drive state, the rear-wheel drive torque of the vehicle is zero, and when in the rear-wheel drive state, the front-wheel drive torque of the vehicle is zero. By identifying the steering wheel rotation angle signal and constantly monitoring the steering wheel rotation angle based on the rotation angle signal and the energy recovery intensity parameter in the energy recovery request signal, the steering wheel rotation angle is prevented from being loaded with vehicle torque in large turning angles, which could lead to excessive torque loading in large turning angles and safety issues such as vehicle rollover. Therefore, based on the rotation angle signal, the intelligent four-wheel drive system loads the vehicle torque to enter the four-wheel drive state, while ensuring safe driving of the vehicle. It should be understood that when the two-wheel drive state of the vehicle is the front-wheel drive state, the vehicle torque loading is the rear-wheel drive torque loading, and when the two-wheel drive state is the rear-wheel drive state, the vehicle torque loading is the front-wheel drive torque loading. This fully utilizes the adhesion of all four tires, loads the vehicle torque, and performs energy recovery while ensuring safe driving, thereby improving the efficiency of the vehicle's energy recovery.

[0046] In one embodiment, based on the rotation angle signal and the energy recovery intensity parameter, the vehicle torque is applied by the intelligent four-wheel drive system (i.e., S206 ), and the following steps A1-A3 may be performed: Step A1: Determine the rotation angle of the steering wheel according to the identified rotation angle signal.

[0047] The intelligent four-wheel drive system identifies the steering wheel rotation angle signal sent by the combination switch, determines the steering wheel rotation angle according to the direction of the rotation angle signal, and can determine the steering angle of the vehicle during driving based on the steering wheel rotation angle.

[0048] Step A2: When the rotation angle is less than or equal to the first preset angle, the torque value of the corresponding vehicle torque is determined based on the energy recovery intensity parameter.

[0049] The energy recovery intensity parameter is one of a plurality of preset energy recovery intensity parameters of varying degrees. For example, the energy recovery intensity parameter may be one of three levels: strong, medium, or weak. Specifically, the energy recovery intensity parameter includes any one of a first energy recovery intensity parameter, a second energy recovery intensity parameter, and a third energy recovery intensity parameter, wherein the first energy recovery intensity parameter is greater than the second energy recovery intensity parameter, and the second energy recovery intensity parameter is greater than the third energy recovery intensity parameter.

[0050] The first preset angle includes a calibrable angle value, which is generally a small turning angle set based on historical experience and is used to determine the angle of the steering wheel in the kinetic energy recovery mode.

[0051] The intelligent four-wheel drive system determines the energy recovery intensity parameter by obtaining the energy recovery request signal. Each energy recovery intensity parameter corresponds to the torque value of the loading torque set in the intelligent four-wheel drive system. When the rotation angle is less than the first preset angle, the intelligent four-wheel drive system determines the torque value of the vehicle torque corresponding to the energy recovery intensity parameter.

[0052] Step A3: Loading torque through the intelligent four-wheel drive system according to the torque value.

[0053] As an example, according to step A1, the steering wheel rotation angle is obtained. When the first preset angle is 60 degrees and the steering wheel rotation angle is less than or equal to 60 degrees, the intelligent four-wheel drive system can determine the torque value of the torque corresponding to the energy recovery intensity parameter based on the energy recovery intensity parameter of step A2, and then load the torque.

[0054] Specifically, an energy regeneration intensity parameter is determined based on the state of the energy regeneration request signal. Different energy regeneration request signal states correspond to different energy regeneration intensity parameters, which in turn correspond to different torque values, ultimately resulting in different amounts of energy regenerated from the vehicle. The strength of the energy regeneration intensity parameter is determined by the energy regeneration request signal. A stronger energy regeneration request signal corresponds to a stronger energy regeneration intensity parameter, and the corresponding torque value is greater.

[0055] As an example, the intelligent four-wheel drive system can receive multiple signals, including: a regenerative energy request signal, a regenerative energy exit request signal, a regenerative energy intensity signal, a rotation angle signal, a four-wheel drive torque signal, and a four-wheel drive mode signal of the intelligent four-wheel drive system. Specifically, the regenerative energy request signal corresponds to a regenerative energy intensity signal, which includes three states: standard, strong, and weak. The regenerative energy exit request signal corresponds to a regenerative energy exit intensity signal. The regenerative energy intensity signal and the regenerative energy request signal both correspond to each other and can display regenerative energy intensity parameters, including standard, strong, and weak levels. For example, when the vehicle is regenerative energy, the regenerative energy intensity parameter in the regenerative energy request signal is received and displayed in the regenerative energy intensity signal. Based on the regenerative energy intensity parameter in the regenerative energy intensity signal, the vehicle instrument panel displays the three levels. The driver can select a different level of regenerative energy intensity parameter based on the regenerative energy request signal, which is recorded in the regenerative energy intensity signal. At this point, the intelligent four-wheel drive system enters kinetic energy regeneration mode. When the intelligent four-wheel drive system receives a regenerative energy exit request signal, corresponding to the regenerative energy exit intensity signal, the intelligent four-wheel drive system exits functional regenerative energy mode. Among them, the energy recovery intensity parameter corresponds to the strength of the energy recovery intensity. The stronger the energy recovery intensity parameter, the stronger the energy recovery intensity, and the greater the deceleration of the vehicle. The weaker the energy recovery intensity parameter, the weaker the energy recovery intensity, and the smaller the deceleration of the vehicle.

[0056] The steering angle signal includes: valid steering angle and no steering angle. The valid steering angle can display the specific steering angle value of the vehicle steering wheel, including: the valid value of the steering angle change and the retained value that remains unchanged. The four-wheel drive torque signal includes: the valid four-wheel drive torque value and the invalid four-wheel drive torque value. The valid four-wheel drive torque value includes: the valid value of the four-wheel drive torque change and the retained value that remains unchanged, wherein the four-wheel drive torque includes the front-wheel drive torque and the rear-wheel drive torque. The four-wheel drive mode signal of the intelligent four-wheel drive system includes: no mode; system error mode; two-wheel drive mode; four-wheel drive lock mode, indicating that the vehicle's four-wheel drive system is in a locked state; full-time four-wheel drive system mode; low-speed four-wheel drive mode; kinetic energy recovery mode, which can trigger the kinetic energy recovery mode in the intelligent four-wheel drive system through the energy recovery request signal.

[0057] When the vehicle slips, decelerates, or brakes while driving, the intelligent four-wheel drive system receives an energy recovery request signal, and the vehicle's instrument panel displays the energy recovery request signal and the energy recovery intensity parameter corresponding to the selected energy recovery request signal. The intelligent four-wheel drive system enters a kinetic energy recovery mode. The four-wheel drive mode signal of the intelligent four-wheel drive system indicates the kinetic energy recovery mode, and the system determines the specific value corresponding to the steering wheel rotation angle in the kinetic energy recovery mode by identifying the steering wheel rotation angle signal. For example, in the kinetic energy recovery mode, the steering wheel rotation angle is 30 degrees, the energy recovery intensity parameter is standard, the first preset angle is 60 degrees, and the steering wheel rotation angle of 30 degrees is less than 60 degrees. The torque value of the loading torque is determined based on the preset loading torque value corresponding to the energy recovery intensity parameter. For example, if the preset loading torque value is 800 Nm, the intelligent four-wheel drive system loads the vehicle with a torque of 800 Nm. The current torque value of the loading torque can be recorded in the four-wheel drive torque signal.

[0058] In this embodiment, the steering wheel rotation angle of the hybrid vehicle is determined based on the identified rotation angle signal. When the rotation angle is less than or equal to a first preset angle, the intelligent four-wheel drive system can load the vehicle's torque based on the energy recovery intensity parameter. Since the torque is loaded at a small rotation angle when the rotation angle is less than or equal to the first preset angle, the vehicle's driving is relatively safe. At the same time, the torque value is determined based on the energy recovery intensity parameter, and the torque is loaded to put the vehicle into a four-wheel drive state. The braking force generated by the four tires of the vehicle can be fully utilized to recover the vehicle's kinetic energy, thereby improving the efficiency of the vehicle's energy recovery.

[0059] In one embodiment, after determining the steering wheel rotation angle based on the identified rotation angle signal (i.e., step A1), the following steps B1-B2 may be performed: Step B1: when the rotation angle is greater than a first preset angle and less than a second preset angle, and the rotation angle gradually increases, torque is loaded through the intelligent four-wheel drive system.

[0060] Among them, the torque value of the loading torque gradually decreases, and the torque value of the torque is negatively correlated with the rotation angle.

[0061] The second preset angle includes a calibrable angle value, which is generally a large turning angle set based on historical experience and is used to determine the angle of the steering wheel in the kinetic energy recovery mode.

[0062] When the turning angle is greater than the first preset angle and less than the second preset angle, and the turning angle gradually increases, as the steering wheel turning angle increases, it can be judged that the vehicle is turning or making a U-turn, and the torque value of the loading torque of the intelligent four-wheel drive system gradually decreases. The torque value is negatively correlated with the turning angle. For example, as the turning angle increases, the torque value of the loading torque gradually decreases.

[0063] For example, based on historical experience, the first preset angle is 60 degrees, the second preset angle is 180 degrees, the steering wheel rotation angle of the vehicle is 80 degrees, the torque value of the torque corresponding to the energy recovery intensity parameter can be 500Nm, and the torque value of the loading torque is also 500Nm. As the steering wheel turns, the rotation angle increases from 80 degrees to 90 degrees, and the torque value of the loading torque is gradually reduced. The torque value of the loading torque corresponding to the rotation angle of 90 degrees can be 400Nm. By reducing the torque value of the loading torque, it can prevent the driving force applied to the vehicle wheels from being too large when the vehicle angle becomes larger, resulting in unsmooth turning.

[0064] Step B2: When the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle remains unchanged, the torque value corresponding to the current rotation angle is maintained by the intelligent four-wheel drive system.

[0065] When the turning angle is greater than the first preset angle and less than the second preset angle, and the turning angle remains unchanged, for example, when the vehicle is decelerating and turning a large roundabout, when the turning angle gradually increases to a certain angle and maintains the turning angle unchanged, the torque value of the loading torque remains unchanged, and the driving force applied to the wheel remains unchanged, the vehicle can maintain deceleration to make safe turns and fully utilize the four tires to recover the vehicle's energy.

[0066] For example, the first preset angle is 60 degrees, the second preset angle is 180 degrees, the steering wheel rotation angle of the vehicle is 80 degrees, and the corresponding loading torque value can be 500Nm. The rotation angle remains unchanged at 80 degrees, so the loading torque value remains unchanged at 500Nm for turning or deceleration.

[0067] It should be noted that, based on the present implementation method, it can also be considered that when the rotation angle is less than or equal to the first preset angle and the rotation angle gradually increases, the torque is loaded through the intelligent four-wheel drive system, the torque value of the loaded torque gradually decreases, and the torque value of the torque is negatively correlated with the rotation angle; when the rotation angle is less than or equal to the first preset angle and the rotation angle remains unchanged, the torque value of the torque corresponding to the current rotation angle is maintained through the intelligent four-wheel drive system.

[0068] In this embodiment, when the steering angle is greater than a first preset angle and less than a second preset angle, there are two scenarios. First, when the steering angle gradually increases within this range, the applied torque value is negatively correlated with the steering angle. The intelligent four-wheel drive system gradually reduces the applied torque value to prevent excessive driving force applied to the vehicle wheels as the steering angle gradually increases, thereby preventing the vehicle from experiencing steering braking due to excessive driving force. Second, when the steering angle remains unchanged within this range, the intelligent four-wheel drive system maintains the torque value corresponding to the current steering angle, ceases further torque application, and maintains the current applied torque value. Applying too much torque in this case can lead to safety issues such as steering braking or rollover, while applying too little torque can result in insufficient energy recovery or tire locking. Therefore, this embodiment prevents excessive changes in the applied torque value as the steering wheel angle changes, which could cause drag between the front and rear axles and lead to steering braking, or insufficient energy recovery due to insufficient or too little applied torque as the steering wheel angle changes. Applying torque within the preset angle range ensures the vehicle's turning performance while fully recovering energy generated by all four wheels.

[0069] In one embodiment, after determining the steering wheel rotation angle according to the identified rotation angle signal (ie, step A1), the following step C may be performed: Step C: When the rotation angle is greater than or equal to the second preset angle, the torque value is reduced to a preset value through the intelligent four-wheel drive system.

[0070] The preset values include: zero or a small value close to zero.

[0071] Specifically, according to step A1, when the steering wheel rotation angle is determined to be greater than or equal to the second preset angle, or according to step B1, when the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases until the rotation angle is equal to or greater than the second preset angle, the intelligent four-wheel drive system reduces the torque value of the loading torque to a preset value. For example, the second preset angle is a large steering wheel rotation angle value, such as the second preset angle is 180 degrees. When the kinetic energy recovery mode is entered, the steering wheel rotation angle is already greater than or equal to 180 degrees, or when the steering wheel rotation angle gradually increases until it is greater than or equal to 180 degrees, the torque value of the loading torque is reduced to the preset value to ensure the vehicle's turning performance. This prevents continued loading torque from suppressing the speed difference between the front and rear wheels during large-angle turns, resulting in safety issues such as unsmooth turns or rollovers.

[0072] It should be noted that when the rotation angle is greater than or equal to the second preset angle, the intelligent four-wheel drive system enters the kinetic energy recovery mode, and there is no need to load the vehicle's torque, that is, the vehicle continues to be in a two-wheel drive state.

[0073] In this embodiment, when the steering angle is greater than or equal to the second preset angle, the steering wheel's rotation angle is relatively large. If there is still loaded torque at this time, it is likely to cause drag on the vehicle. The intelligent four-wheel drive system reduces the torque value to a preset value, enabling the vehicle to smoothly turn or U-turn. In related art, when the intelligent four-wheel drive system is in kinetic energy recovery mode, the vehicle's torque is not loaded, and the steering wheel's rotation angle is not considered. In addition, the vehicle's torque is not adjusted at large turning angles. In this embodiment, by timely reducing the torque loaded on the vehicle at large turning angles, the vehicle fully recovers energy generated by the four wheels before reaching a large turning angle. By reducing the loaded torque to 0 at large turning angles, the vehicle's safety performance is improved, achieving the effect of ensuring safe driving of the vehicle.

[0074] In one embodiment, the method may further perform the following step D: Step D, when the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases, determine the change rate of the torque value of the torque corresponding to the rotation angle based on the energy recovery intensity parameter, and gradually reduce the torque value of the loading torque according to the change rate. The change rate is less than 0, and the absolute value of the change rate is positively correlated with the energy recovery intensity parameter.

[0075] The rate of change indicates how quickly the vehicle's energy recovery intensity parameter changes relative to the torque value. The speed of the loading torque is determined based on how quickly the torque value changes.

[0076] When the turning angle is greater than the first preset angle and less than the second preset angle, and the turning angle gradually increases, the energy recovery request signal is obtained through the intelligent four-wheel drive system, and the energy recovery intensity parameter is determined. According to the energy recovery intensity parameter, the change rate of the torque value corresponding to the gradually increasing turning angle of the vehicle is determined, and the change rate is less than 0 and is positively correlated with the energy recovery intensity parameter.

[0077] Specifically, when the rate of change is less than 0, it indicates that the torque value of the loading torque needs to be gradually reduced. The absolute value of the rate of change indicates how quickly the loading torque is reduced. The larger the absolute value of the rate of change, the faster the loading torque is reduced. When the rotation angle is greater than a first preset angle and less than a second preset angle, and the rotation angle gradually increases, the torque value of the torque corresponding to the energy recovery intensity parameter needs to be gradually reduced to ensure that the torque value of the loading torque decreases as the rotation angle increases, allowing the vehicle to turn smoothly without causing safety issues such as vehicle steering braking or rollover. Furthermore, when the vehicle suddenly makes a sharp turn, it is very important to accelerate the speed at which the loading torque is reduced. Therefore, it is necessary to quickly reduce the loading torque value based on the rate of change of the torque value corresponding to the energy recovery intensity parameter.

[0078] For example, when the driver decelerates or brakes, and the steering wheel's rotation angle is greater than a first preset angle and less than a second preset angle, and gradually increases, the intelligent four-wheel drive system determines the vehicle's rotation angle based on the rotation angle signal, determines the energy recovery intensity parameter corresponding to the energy recovery request signal based on the received energy recovery request signal, and determines the torque value corresponding to the energy recovery intensity parameter. Based on the gradually changing rotation angle and the torque value corresponding to the energy recovery intensity parameter, the system determines the rate of change of the torque value corresponding to the rotation angle. Based on the rate of change, the system quickly reduces the torque value of the loading torque to prevent the loading torque from being reduced too slowly when the vehicle's rotation angle suddenly increases, leading to safety issues such as vehicle steering, braking, or rollover. The system determines the corresponding energy recovery intensity parameter based on the different conditions of the energy recovery intensity parameter in the energy recovery request signal, which are strong, standard, or weak. Based on the energy recovery intensity parameter, the system determines the torque value corresponding to the energy recovery intensity parameter, and further determines the rate of change of the torque value corresponding to the gradually increasing vehicle rotation angle. The torque value corresponding to the energy recovery intensity parameter can be a preset value or can vary based on the change in the torque value of the loading torque, without limitation.

[0079] When the rate of change is greater than 0, the speed at which the loading torque increases is positively correlated with the energy recovery intensity parameter. That is, the larger the energy recovery intensity parameter, the stronger the energy recovery intensity, the faster the rate of change, and the faster the speed at which the loading torque increases. For example, when the intelligent four-wheel drive system needs to increase energy recovery intensity on a smoother road, the rate of change is greater than 0, increasing the speed at which the loading torque increases, and the loading torque value is quickly increased.

[0080] It should be noted that according to the energy recovery intensity parameter, the change rate of the torque value of the torque corresponding to the rotation angle is determined, and the torque value of the torque of the vehicle is loaded according to the change rate. When the change rate is equal to 0, the torque value of the torque can be loaded at a uniform speed.

[0081] In this embodiment, when the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases, the intelligent four-wheel drive system can determine the energy recovery intensity parameter based on the change in energy recovery intensity, and then determine the rate of change of the torque value corresponding to the rotation angle. According to the rate of change, the torque value of the torque corresponding to the rotation angle is gradually reduced. This can increase the speed of torque loading on the vehicle while not overloading the torque, thereby ensuring vehicle safety and fully recovering the vehicle's kinetic energy. Compared to gradually reducing the torque value of the loaded torque, this embodiment can further and more quickly determine the speed of torque reduction based on the rate of change. When the vehicle experiences problems such as slipping, the torque value of the torque loading on the vehicle can be quickly reduced, improving vehicle driving safety and preventing more serious deviation problems such as wheel spin.

[0082] In one embodiment, based on the energy recovery intensity parameter, the torque value of the corresponding vehicle is determined (i.e., step A2), and specifically, the following steps E1-E2 may be performed: Step E1: determining a torque value corresponding to the energy recovery intensity parameter according to the energy recovery intensity parameter, wherein the energy recovery intensity parameter is positively correlated with the torque value corresponding to the energy recovery intensity parameter.

[0083] According to the energy recovery intensity parameter, the torque value corresponding to the energy recovery intensity parameter is determined, wherein each energy recovery intensity parameter corresponds to a different torque value, the stronger the energy recovery request signal, the stronger the energy recovery intensity, the larger the corresponding energy recovery intensity parameter, and the larger the torque value corresponding to the energy recovery intensity parameter.

[0084] The torque value is the specific size of the loading torque. The loading torque can be a driving force for the wheels that assist in driving the vehicle. However, the specific size of the driving force is determined by a pre-calculated or set torque value.

[0085] The energy recovery intensity parameter corresponds to three different levels, such as the first energy recovery intensity parameter corresponds to a stronger energy recovery intensity, the second energy recovery intensity parameter corresponds to a standard energy recovery intensity, and the third energy recovery intensity parameter corresponds to a weaker energy recovery intensity.

[0086] Different energy recovery intensity parameters correspond to different energy recovery request signal states, and different energy recovery request signal states correspond to different torque values. The corresponding torque value in the stronger state is 1200Nm, the corresponding torque value in the standard state is 800Nm, and the corresponding torque value in the weaker state is 400Nm.

[0087] As an example, different energy recovery intensity parameters correspond to different states of energy recovery request signals, and, from the above step A2, it can be seen that the first energy recovery intensity parameter in the energy recovery intensity parameters is greater than the second energy recovery intensity parameter, and the second energy recovery intensity parameter is greater than the third energy recovery intensity parameter, that is, the first energy recovery intensity parameter corresponds to a stronger energy recovery intensity state, the second energy recovery intensity parameter corresponds to a standard energy recovery intensity state, and the third energy recovery intensity parameter corresponds to a weaker energy recovery intensity state.

[0088] Therefore, when the state of the energy recovery request signal is in a stronger state, corresponding to the first energy recovery intensity, the torque value corresponding to the first energy recovery intensity parameter can be 1200Nm; when the state of the energy recovery request signal is in a standard state, corresponding to the second energy recovery intensity parameter, the torque value corresponding to the second energy recovery intensity parameter can be 800Nm; when the state of the energy recovery request signal is in a weaker state, corresponding to the third energy recovery intensity parameter, the torque value corresponding to the third energy recovery intensity parameter can be 400Nm, where the torque value is a calibration quantity, and the specific value is not limited. In addition, the torque value corresponding to the energy recovery intensity parameter can be adjusted according to the change in the steering wheel rotation angle of the vehicle.

[0089] Step E2: According to the torque value corresponding to the energy recovery intensity parameter, the torque value of the vehicle is adjusted to the torque value corresponding to the energy recovery intensity parameter.

[0090] According to the torque value corresponding to the obtained energy recovery intensity parameter, when loading the torque, the torque response value is adjusted to the torque value corresponding to the energy recovery intensity parameter. The torque response value is the torque value of the torque. When the energy recovery intensity parameter of the intelligent four-wheel drive system is strong, the greater the response value of the loaded torque, the more braking force the vehicle generates, and the more energy is ultimately recovered.

[0091] In this embodiment, the torque value of the applied torque is adjusted to the torque value corresponding to the energy recovery strength parameter based on the different torque values corresponding to the energy recovery strength parameter. This allows the intelligent four-wheel drive system to dynamically adjust the vehicle's torque in kinetic energy recovery mode, responding to different torque values based on different energy recovery strength parameters. The energy recovery strength parameter is used to determine the strength of the intelligent four-wheel drive system's energy recovery, and the torque value corresponding to the energy recovery strength parameter is used to determine the torque value of the applied torque of the intelligent four-wheel drive system. This allows the vehicle to enter a four-wheel drive state, fully utilizing the adhesion of the vehicle's four tires, improving the vehicle's braking force, and thereby enhancing energy recovery efficiency.

[0092] In one embodiment, the method may further perform the following steps F1-F2: In step F1, based on the historical vehicle movement data, a torque loading rate is pre-set when the intelligent four-wheel drive system enters the kinetic energy recovery mode. The loading rate represents the speed at which the torque value is loaded when the intelligent four-wheel drive system enters the kinetic energy recovery mode.

[0093] When the vehicle enters or exits kinetic energy recovery mode, it will experience jerking. Jerking refers to the intermittent jerking phenomenon that occurs during vehicle driving. It usually occurs in situations such as braking or low-speed driving. Due to loading or releasing torque too quickly or too slowly, it may cause discomfort to the driver and even affect driving safety.

[0094] The historical movement data refers to the movement of the vehicle recorded in the vehicle's historical data. The historical data may be data from the vehicle testing phase, or data obtained after some vehicles are put into use, without specific limitation.

[0095] According to the historical jostling data of the vehicle, the jostling conditions of the vehicle in the historical data are determined, and the loading rate of the loaded torque is pre-set in the intelligent four-wheel drive system when the intelligent four-wheel drive system enters the kinetic energy recovery mode. According to the pre-set torque loading rate, when the intelligent four-wheel drive system enters the kinetic energy recovery mode, the loading speed of the loaded torque is adjusted by the intelligent four-wheel drive system to make the vehicle run more smoothly, prevent the vehicle from jostling, and reduce the experience of the people in the vehicle. Specifically, during the development stage of the intelligent four-wheel drive system, the staff pre-sets the loading rate of the vehicle loaded torque in the intelligent four-wheel drive system based on the historical performance of the vehicle. For example, the intelligent four-wheel drive system is pre-set to load a preset value of torque within one or two seconds when entering the kinetic energy recovery mode. The torque value of the preset value of torque loaded within this time can enable the vehicle to smoothly enter the process of loading torque in the kinetic energy recovery mode, rather than suddenly and directly loading too much torque.

[0096] In step F2, based on the historical vehicle movement data, a torque release rate is pre-set when the intelligent four-wheel drive system exits the kinetic energy recovery mode. The release rate represents the speed at which the loaded torque is released when the intelligent four-wheel drive system exits the kinetic energy recovery mode.

[0097] According to the historical jostling data of the vehicle, the jostling conditions of the vehicle in the historical data are determined, and the release rate of the torque is pre-set in the intelligent four-wheel drive system when the intelligent four-wheel drive system exits the kinetic energy recovery mode. According to the pre-set torque release rate, when the intelligent four-wheel drive system exits the kinetic energy recovery mode, the release rate of the torque is adjusted by the intelligent four-wheel drive system to make the vehicle run more smoothly, prevent the vehicle from jostling, and reduce the experience of the people in the vehicle. Specifically, during the development stage of the intelligent four-wheel drive system, the staff pre-sets the release rate of the vehicle's torque in the intelligent four-wheel drive system based on the historical performance of the vehicle. For example, when the intelligent four-wheel drive system exits the kinetic energy recovery mode, the torque value of the preset value of the torque is released within one or two seconds. The torque value of the preset value of the torque released within this time can enable the vehicle to smoothly exit the kinetic energy recovery mode state and release the torque value of the torque value, rather than suddenly and directly releasing too much torque.

[0098] The torque loading or release rate is pre-set when the intelligent four-wheel drive system enters or exits the kinetic energy recovery mode. After entering the kinetic energy recovery mode, it has no effect on the vehicle's torque loading. In addition, in emergency situations, the pre-set loading or release rate can also be adaptively adjusted.

[0099] In this embodiment, when the intelligent four-wheel drive system enters the kinetic energy recovery mode or exits the kinetic energy recovery mode, it can pre-set the torque loading rate or release rate based on the historical jostling data of the vehicle to avoid the vehicle's intelligent four-wheel drive system suddenly loading too much torque when entering the kinetic energy recovery mode, or suddenly releasing too much torque when exiting the kinetic energy recovery mode. The intelligent four-wheel drive system in the related art fails to set the loading rate of the loaded torque in advance when entering the kinetic energy recovery mode, or to set the release rate of the released torque in advance when exiting the kinetic energy recovery mode. The intelligent four-wheel drive system in this application can prevent the vehicle from jostling by setting the loading rate of the loaded torque in advance or setting the release rate of the released torque in advance when entering or exiting the kinetic energy recovery mode, so as to achieve the technical effect of smooth and safe driving of the vehicle.

[0100] In one embodiment, based on the rotation angle signal and the energy recovery intensity parameter, the vehicle torque is applied by the intelligent four-wheel drive system (ie, S206 ), and the following step G may be performed: Step G: Loading the vehicle's torque through the intelligent four-wheel drive system according to the rotation angle signal, the vehicle's driving speed and the energy recovery intensity parameter.

[0101] The vehicle's driving speed includes the vehicle's driving speed after the intelligent four-wheel drive system enters the kinetic energy recovery mode.

[0102] In the conception of the above scheme, in addition to determining the vehicle's turning angle based on the vehicle steering wheel's turning angle signal, the vehicle's driving speed's influence on the loading torque is also considered. When the vehicle's turning angle is determined based on the turning angle signal and a corresponding strategy is adopted, the vehicle's driving speed is also obtained.

[0103] Specifically, after determining the steering wheel angle of the vehicle based on the rotation angle signal, a corresponding torque value is determined based on the energy recovery intensity parameter. When the vehicle's speed is less than a preset speed threshold, where a vehicle traveling at a speed less than the preset speed is considered to be traveling at a low speed, such as 50 kilometers per hour, indicating that the vehicle's braking force is relatively high, the intelligent four-wheel drive system determines a torque value for reducing the loading torque by adjusting the torque value corresponding to the energy recovery intensity parameter within the energy recovery intensity corresponding to the energy recovery intensity parameter. In addition to loading the vehicle's torque based on the rotation angle factor, the torque value for reducing the loading torque is also determined based on the vehicle's speed, allowing the intelligent four-wheel drive system to load the vehicle's torque.

[0104] After determining the steering wheel angle of the vehicle based on the steering angle signal, a corresponding torque value is determined based on the energy recovery intensity parameter. When the vehicle's speed exceeds a preset speed threshold, where a speed exceeding the preset speed is considered high speed, such as 50 kilometers per hour, indicating low braking force, the intelligent four-wheel drive system determines a torque value for increasing the applied torque by adjusting the torque value corresponding to the energy recovery intensity parameter within the energy recovery intensity corresponding to the energy recovery intensity parameter. In addition to applying torque based on the steering angle, the torque value for increasing the applied torque is also determined based on the vehicle's speed, allowing the intelligent four-wheel drive system to apply torque to the vehicle.

[0105] It should be noted that after determining the rate of change of the loading torque value based on the rotation angle signal and the energy recovery intensity parameter, the rate of change of the loading torque value can also be adjusted based on the vehicle's speed. For example, when the vehicle's speed is less than a preset speed, the rate of change can be reduced, and when the vehicle's speed is greater than the preset speed, the rate of change can be increased. Furthermore, the loading torque value can be adjusted based on how the energy recovery intensity parameters for different levels change at different vehicle speeds, as determined by the rotation angle signal.

[0106] In addition, in addition to considering the impact of the vehicle's turning angle and the vehicle's driving speed on the torque of the loaded vehicle, factors such as ground friction and the distance to the vehicle in front can also be obtained to adjust the torque value of the loading torque.

[0107] In this embodiment, the intelligent four-wheel drive system not only determines the vehicle's rotation angle by identifying the vehicle's rotation angle signal, but also obtains the vehicle's driving speed. Based on the energy recovery intensity parameter and the vehicle's rotation angle, it determines the torque value of the loaded torque. Furthermore, the torque value of the loaded torque is adjusted according to the vehicle's driving speed. The torque of the vehicle is then loaded by the intelligent four-wheel drive system based on the adjusted torque value. Further adjusting the torque value of the loaded torque based on the vehicle's driving speed allows for more accurate acquisition of the torque value of the loaded torque based on the vehicle's current condition. The intelligent four-wheel drive system provides more comprehensive energy recovery for the vehicle. Furthermore, the accurate torque value of the loaded torque can reduce the impact of the braking force generated by energy recovery on the tires, thereby increasing the vehicle's service life.

[0108] like Figure 3 FIG. 1 is a functional execution diagram of a vehicle energy recovery method according to another embodiment of the present application. Specifically, Figure 3As shown, when the vehicle receives a regenerative braking request signal, it does not request regenerative braking. At this time, the vehicle is accelerating or stopped, and no regenerative braking is required. When the vehicle brakes or decelerates, it receives a regenerative braking request signal, corresponding to one of three levels of regenerative braking intensity: standard, stronger, or weaker. This indicates a request for regenerative braking, and the entire vehicle enters regenerative braking mode. The vehicle's regenerative braking intensity can be adjusted, such as by selecting different levels of regenerative braking intensity. Specifically, different regenerative braking intensity parameters, such as standard, stronger, or weaker, are selected based on the regenerative braking intensity signal corresponding to the regenerative braking request signal. These different regenerative braking intensity parameters correspond to different preset applied torque values. At this point, the intelligent four-wheel drive system enters regenerative braking mode as the vehicle receives the regenerative braking request signal. The intelligent four-wheel drive system also receives the regenerative braking request signal and enters kinetic energy recovery mode. When the intelligent four-wheel drive system enters kinetic energy recovery mode, it receives a steering wheel angle signal and determines the steering wheel angle based on the angle signal. When the steering wheel angle is greater than 180 degrees, no torque is applied. When the steering wheel is turned less than 180 degrees, the intelligent four-wheel drive system applies torque, with the torque value determined based on the different states of the energy recovery request signal. For example, in a strong state, the applied torque value is 1200 Nm; in a standard state, the applied torque value is 800 Nm; and in a weak state, the applied torque value is 400 Nm. When the vehicle enters the acceleration or parking state, the intelligent four-wheel drive system receives the energy recovery exit request signal and exits the kinetic energy recovery mode. In other words, even if the intelligent four-wheel drive system is in kinetic energy recovery mode, it does not apply torque when the steering wheel is turned greater than 180 degrees. It will not exit the kinetic energy recovery mode until the vehicle stops regenerating at a large turning angle of 180 degrees, i.e., the vehicle is accelerating or stopping. Alternatively, when the steering wheel is turned less than 180 degrees, the intelligent four-wheel drive system applies torque until the intelligent four-wheel drive system stops regenerating the vehicle, i.e., the vehicle is accelerating or stopping, at which point the intelligent four-wheel drive system will exit the kinetic energy recovery mode.

[0109] Among them, the judgment value of the steering wheel rotation angle when the intelligent four-wheel drive system enters the kinetic energy recovery mode is a calibrated value. Figure 3 The 180 degrees is for illustration only; and the torque loading response value of the intelligent four-wheel drive system entering the kinetic energy recovery mode, that is, the torque value of the torque, can respond to different torque values according to different states of the energy recovery request signal, and this response value can be calibrated, wherein different states of the energy recovery request signal correspond to different energy recovery intensities.

[0110] In summary, a torque control strategy for the intelligent four-wheel drive system in kinetic energy recovery mode is formulated. When the energy recovery function, i.e., the kinetic energy recovery mode, is activated, the vehicle is in a two-wheel drive state. Under the premise of ensuring the vehicle's driving performance, such as not loading torque at large corners, a part of the vehicle's torque is applied to make the vehicle enter a four-wheel drive state. The four wheels can fully participate in the energy recovery process, which can better ensure the stability of the vehicle's driving and improve people's quality of life.

[0111] Figure 4 is a schematic block diagram of an application based on a vehicle intelligent four-wheel drive system according to another embodiment of the present application, such as Figure 4 As shown, the vehicle can send accelerator pedal signals, rotation angle signals, wheel speed sensor signals, speed signals, anti-lock braking system (ABS) / electronic stability program (ESP) signals and driving mode signals, and send various signals sent by the vehicle to the transfer case controller. The transfer case controller in the intelligent four-wheel drive system receives various signals, and can enable the intelligent four-wheel drive system to enter the corresponding kinetic energy recovery mode to execute the corresponding strategy, calculate the torque value of the torque, and send it to the transfer case. The driving force generated by the transfer case according to the torque value of the torque is transmitted to the vehicle, so that the vehicle can travel in the state after the torque is loaded and recover kinetic energy.

[0112] Figure 5 is a schematic flow chart of a scenario of a vehicle energy recovery method according to another embodiment of the present application, such as Figure 5 As shown, the method includes the following steps: S501: When the driver decelerates or brakes, the vehicle sends an energy recovery request signal, and the vehicle's power system controller receives the energy recovery request signal and sends it to the intelligent four-wheel drive system.

[0113] S502, the intelligent four-wheel drive system activates the kinetic energy recovery mode by receiving the energy recovery request signal. In the kinetic energy recovery mode, the vehicle is in a two-wheel drive state.

[0114] Two-wheel drive status includes: front-wheel drive status or rear-wheel drive status.

[0115] S503 , determining an energy recovery intensity parameter through the energy recovery request signal, and the intelligent four-wheel drive system identifying a steering wheel rotation angle signal of the vehicle in real time.

[0116] S504, determining the steering wheel rotation angle according to the rotation angle signal, and when the rotation angle is less than or equal to the first preset angle, determining the torque value of the torque based on the energy recovery intensity parameter through the intelligent four-wheel drive system, and loading the torque.

[0117] Among them, according to the energy recovery intensity parameter, the torque value corresponding to the energy recovery intensity parameter is determined, and the torque value of the torque is adjusted to the torque value corresponding to the energy recovery intensity parameter. At this time, the vehicle enters the four-wheel drive state.

[0118] S505, when the rotation angle is greater than the first preset angle and the rotation angle gradually increases, the torque corresponding to the loading rotation angle is gradually reduced through the intelligent four-wheel drive system until the rotation angle reaches a value equal to or greater than the second preset angle, and the torque value of the loading torque is reduced to the preset value.

[0119] S506: When the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle remains unchanged, the torque value corresponding to the current rotation angle is maintained by the intelligent four-wheel drive system.

[0120] S507 , when the intelligent four-wheel drive system receives the energy recovery request signal and is in the exit state, it exits the kinetic energy recovery mode.

[0121] The specific process from S501 to S507 has been described in detail in the above embodiment and will not be repeated here.

[0122] The technical solution of the embodiment of the present application is adopted and applied to the intelligent four-wheel drive system of the vehicle, which receives an energy recovery request signal issued by the vehicle's power system controller, and the energy recovery request signal includes an energy recovery intensity parameter; based on the energy recovery request signal, the intelligent four-wheel drive system enters the kinetic energy recovery mode, and identifies the steering wheel rotation angle signal of the vehicle, wherein, in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state includes: front-wheel drive state or rear-wheel drive state; according to the rotation angle signal and the energy recovery intensity parameter, the vehicle's torque is loaded through the intelligent four-wheel drive system, so that the vehicle enters the four-wheel drive state, and the vehicle's energy recovery is performed. As can be seen, the energy recovery request signal issued by the powertrain controller causes the intelligent four-wheel drive system to enter the kinetic energy recovery mode. In this kinetic energy recovery mode, the vehicle is in a two-wheel drive state. When in the front-wheel drive state, the rear-wheel drive torque of the vehicle is zero, and when in the rear-wheel drive state, the front-wheel drive torque of the vehicle is zero. By identifying the steering wheel rotation angle signal and constantly monitoring the steering wheel rotation angle based on the rotation angle signal and the energy recovery intensity parameter in the energy recovery request signal, the steering wheel rotation angle is prevented from being loaded with vehicle torque in large turning angles, which could lead to excessive torque loading in large turning angles and safety issues such as vehicle rollover. Therefore, based on the rotation angle signal, the intelligent four-wheel drive system loads the vehicle torque to enter the four-wheel drive state, while ensuring safe driving of the vehicle. It should be understood that when the two-wheel drive state of the vehicle is the front-wheel drive state, the vehicle torque loading is the rear-wheel drive torque loading, and when the two-wheel drive state is the rear-wheel drive state, the vehicle torque loading is the front-wheel drive torque loading. This fully utilizes the adhesion of all four tires, loads the vehicle torque, and performs energy recovery while ensuring safe driving, thereby improving the efficiency of the vehicle's energy recovery.

[0123] In summary, specific embodiments of the present subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing may be advantageous.

[0124] The above is a method for vehicle energy recovery provided in an embodiment of the present application. Based on the same idea, an embodiment of the present application also provides a device for vehicle energy recovery.

[0125] Figure 6 FIG. 1 is a schematic structural diagram of a vehicle energy recovery device according to an embodiment of the present invention. Figure 6 As shown, the vehicle energy recovery device is applied to the vehicle's intelligent four-wheel drive system, including: a receiving module 61, an identification module 62, and an energy recovery module 63: a receiving module 61 for receiving an energy recovery request signal sent by a power system controller of a vehicle, wherein the energy recovery request signal includes an energy recovery intensity parameter; an identification module 62 for causing the intelligent four-wheel drive system to enter a kinetic energy recovery mode based on the energy recovery request signal and identifying a steering wheel rotation angle signal of the vehicle, wherein in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, which includes a front-wheel drive state or a rear-wheel drive state; The energy recovery module 63 is used to load the vehicle's torque through the intelligent four-wheel drive system according to the rotation angle signal and the energy recovery intensity parameter, so that the vehicle enters the four-wheel drive state and performs energy recovery for the vehicle.

[0126] In a specific embodiment, the energy recovery module 63 further includes: an identification unit, configured to determine a rotation angle of the steering wheel based on the identified rotation angle signal; a determining unit, configured to determine a torque value of the corresponding vehicle torque based on an energy recovery intensity parameter when the rotation angle is less than or equal to a first preset angle; wherein the energy recovery intensity parameter is one of a plurality of preset energy recovery intensity parameters of different degrees; The first loading unit is used to load torque through the intelligent four-wheel drive system according to the torque value of the torque.

[0127] In a specific embodiment, the device further comprises: a second loading unit, configured to load torque through the intelligent four-wheel drive system when the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases; wherein the torque value of the loaded torque gradually decreases, and the torque value is negatively correlated with the rotation angle; The maintaining unit is used to maintain the torque value corresponding to the current rotation angle through the intelligent four-wheel drive system when the rotation angle is greater than the first preset angle and less than the second preset angle and the rotation angle remains unchanged.

[0128] In a specific embodiment, the device further comprises: The third loading unit is used to reduce the torque value of the torque to a preset value through the intelligent four-wheel drive system when the rotation angle is greater than or equal to the second preset angle.

[0129] In a specific embodiment, the device is also used to determine the rate of change of the torque value of the torque corresponding to the rotation angle based on the energy recovery intensity parameter when the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases. According to the rate of change, the torque value of the loading torque is gradually reduced. The rate of change is less than 0, and the absolute value of the rate of change is positively correlated with the energy recovery intensity parameter.

[0130] In a specific embodiment, the determination unit is specifically used to determine the torque value corresponding to the energy recovery intensity parameter based on the energy recovery intensity parameter, wherein the energy recovery intensity parameter is positively correlated with the torque value corresponding to the energy recovery intensity parameter; and according to the torque value corresponding to the energy recovery intensity parameter, the torque value of the vehicle's torque is adjusted to the torque value corresponding to the energy recovery intensity parameter.

[0131] In a specific embodiment, the device also includes a setting module for pre-setting the torque loading rate when the intelligent four-wheel drive system enters the kinetic energy recovery mode based on the vehicle's historical jostling data, and the loading rate represents the speed of the torque value of the loaded torque when the intelligent four-wheel drive system enters the kinetic energy recovery mode; and pre-setting the torque release rate when the intelligent four-wheel drive system exits the kinetic energy recovery mode based on the vehicle's historical jostling data, and the release rate represents the speed of the torque value of the released loaded torque when the intelligent four-wheel drive system exits the kinetic energy recovery mode.

[0132] In a specific embodiment, the energy recovery module 63 is further configured to load the vehicle's torque through the intelligent four-wheel drive system according to the rotation angle signal, the vehicle's driving speed, and the energy recovery intensity parameter.

[0133] The technical solution of the embodiment of the present application is adopted and applied to the intelligent four-wheel drive system of the vehicle, which receives an energy recovery request signal issued by the vehicle's power system controller, and the energy recovery request signal includes an energy recovery intensity parameter; based on the energy recovery request signal, the intelligent four-wheel drive system enters the kinetic energy recovery mode, and identifies the steering wheel rotation angle signal of the vehicle, wherein, in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state includes: front-wheel drive state or rear-wheel drive state; according to the rotation angle signal and the energy recovery intensity parameter, the vehicle's torque is loaded through the intelligent four-wheel drive system, so that the vehicle enters the four-wheel drive state, and the vehicle's energy recovery is performed. As can be seen, the energy recovery request signal issued by the powertrain controller causes the intelligent four-wheel drive system to enter the kinetic energy recovery mode. In this kinetic energy recovery mode, the vehicle is in a two-wheel drive state. When in the front-wheel drive state, the rear-wheel drive torque of the vehicle is zero, and when in the rear-wheel drive state, the front-wheel drive torque of the vehicle is zero. By identifying the steering wheel rotation angle signal and constantly monitoring the steering wheel rotation angle based on the rotation angle signal and the energy recovery intensity parameter in the energy recovery request signal, the steering wheel rotation angle is prevented from being loaded with vehicle torque in large turning angles, which could lead to excessive torque loading in large turning angles and safety issues such as vehicle rollover. Therefore, based on the rotation angle signal, the intelligent four-wheel drive system loads the vehicle torque to enter the four-wheel drive state, while ensuring safe driving of the vehicle. It should be understood that when the two-wheel drive state of the vehicle is the front-wheel drive state, the vehicle torque loading is the rear-wheel drive torque loading, and when the two-wheel drive state is the rear-wheel drive state, the vehicle torque loading is the front-wheel drive torque loading. This fully utilizes the adhesion of all four tires, loads the vehicle torque, and performs energy recovery while ensuring safe driving, thereby improving the efficiency of the vehicle's energy recovery.

[0134] Those skilled in the art should understand that Figure 6 The vehicle energy recovery device can be used to implement the vehicle energy recovery method described above. The detailed description should be similar to the description in the method part above. To avoid tediousness, it will not be repeated here.

[0135] Based on the same technical concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, which at least includes the vehicle energy recovery device in the above-mentioned embodiments, as well as the electronic equipment, computer-readable storage medium, etc. in the following embodiments. The vehicle equipment can implement the vehicle energy recovery method described in any one of the embodiments.

[0136] The vehicle of the above embodiment is used to implement the vehicle energy recovery method described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0137] Based on the same technical concept, an embodiment of the present application further provides an electronic device for executing the above-mentioned vehicle energy recovery method. Figure 7 The following is a schematic diagram of the structure of an electronic device for implementing various embodiments of the present application. Electronic devices may vary significantly due to different configurations or performances, and may include a processor 710, a communications interface 720, a memory 730, and a communication bus 740. The processor 710, the communications interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 may call a computer program stored in the memory 730 and executable on the processor 710 to perform the following steps: receiving an energy recovery request signal from a power system controller of the vehicle, the energy recovery request signal including an energy recovery intensity parameter; Based on the energy recovery request signal, the intelligent four-wheel drive system enters a kinetic energy recovery mode and identifies a steering wheel rotation angle signal of the vehicle. In the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, which includes a front-wheel drive state or a rear-wheel drive state. According to the rotation angle signal and energy recovery intensity parameters, the vehicle's torque is loaded through the intelligent four-wheel drive system, so that the vehicle enters the four-wheel drive state and performs energy recovery.

[0138] The technical solution of the embodiment of the present application is adopted and applied to the intelligent four-wheel drive system of the vehicle, which receives an energy recovery request signal issued by the vehicle's power system controller, and the energy recovery request signal includes an energy recovery intensity parameter; based on the energy recovery request signal, the intelligent four-wheel drive system enters the kinetic energy recovery mode, and identifies the steering wheel rotation angle signal of the vehicle, wherein, in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state includes: front-wheel drive state or rear-wheel drive state; according to the rotation angle signal and the energy recovery intensity parameter, the vehicle's torque is loaded through the intelligent four-wheel drive system, so that the vehicle enters the four-wheel drive state, and the vehicle's energy recovery is performed. As can be seen, the energy recovery request signal issued by the powertrain controller causes the intelligent four-wheel drive system to enter the kinetic energy recovery mode. In this kinetic energy recovery mode, the vehicle is in a two-wheel drive state. When in the front-wheel drive state, the rear-wheel drive torque of the vehicle is zero, and when in the rear-wheel drive state, the front-wheel drive torque of the vehicle is zero. By identifying the steering wheel rotation angle signal and constantly monitoring the steering wheel rotation angle based on the rotation angle signal and the energy recovery intensity parameter in the energy recovery request signal, the steering wheel rotation angle is prevented from being loaded with vehicle torque in large turning angles, which could lead to excessive torque loading in large turning angles and safety issues such as vehicle rollover. Therefore, based on the rotation angle signal, the intelligent four-wheel drive system loads the vehicle torque to enter the four-wheel drive state, while ensuring safe driving of the vehicle. It should be understood that when the two-wheel drive state of the vehicle is the front-wheel drive state, the vehicle torque loading is the rear-wheel drive torque loading, and when the two-wheel drive state is the rear-wheel drive state, the vehicle torque loading is the front-wheel drive torque loading. This fully utilizes the adhesion of all four tires, loads the vehicle torque, and performs energy recovery while ensuring safe driving, thereby improving the efficiency of the vehicle's energy recovery.

[0139] The specific execution steps can refer to the various steps of the above-mentioned vehicle energy recovery method embodiment, and can achieve the same technical effect. To avoid repetition, they will not be described here.

[0140] It should be noted that the electronic devices in the embodiments of the present application include: servers, terminals, or other devices other than terminals.

[0141] The above electronic device structure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, the input unit may include a graphics processing unit (GPU) and a microphone, and the display unit may be configured as a display panel in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit includes at least one of a touch panel and other input devices. A touch panel is also called a touch screen. Other input devices may include, but are not limited to, a physical keyboard, function keys (such as volume control buttons, power buttons, etc.), a trackball, a mouse, and a joystick, which will not be detailed here.

[0142] The memory can be used to store software programs and various data. The memory may mainly include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory may include volatile memory or non-volatile memory, or the memory may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct rambus random access memory (DRRAM).

[0143] The processor may include one or more processing units; optionally, the processor may integrate an application processor and a modem processor, wherein the application processor primarily handles operations related to the operating system, user interface, and application programs, and the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into the processor.

[0144] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned vehicle energy recovery method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0145] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0146] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned vehicle energy recovery method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0147] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0148] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the processor is used to run the program or instructions to implement the various processes of the above-mentioned product recommendation method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0149] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0150] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of this application.

[0151] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for recovering vehicle energy, characterized in that: An intelligent four-wheel drive system for a vehicle, the method comprising: receiving an energy recovery request signal from a power system controller of a vehicle, wherein the energy recovery request signal includes an energy recovery intensity parameter; Based on the energy recovery request signal, the intelligent four-wheel drive system enters a kinetic energy recovery mode and identifies a rotation angle signal of the vehicle's steering wheel, wherein in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state includes: a front-wheel drive state or a rear-wheel drive state; According to the rotation angle signal and the energy recovery intensity parameter, the torque of the vehicle is loaded through the intelligent four-wheel drive system, so that the vehicle enters a four-wheel drive state and performs energy recovery of the vehicle.

2. The method according to claim 1, characterized in that The step of loading the vehicle's torque through the intelligent four-wheel drive system according to the rotation angle signal and the energy recovery intensity parameter includes: determining a rotation angle of the steering wheel according to the identified rotation angle signal; When the rotation angle is less than or equal to a first preset angle, determining a corresponding torque value of the vehicle torque based on the energy recovery intensity parameter; wherein the energy recovery intensity parameter is one of a plurality of preset energy recovery intensity parameters of different degrees; The torque is loaded through the intelligent four-wheel drive system according to the torque value of the torque.

3. The method according to claim 2, characterized in that After determining the rotation angle of the steering wheel according to the identified rotation angle signal, the method further includes: When the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases, the torque is applied by the intelligent four-wheel drive system; wherein the torque value of the applied torque gradually decreases, and the torque value is negatively correlated with the rotation angle; When the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle remains unchanged, the torque value of the torque corresponding to the current rotation angle is maintained by the intelligent four-wheel drive system.

4. The method according to claim 2, characterized in that After determining the rotation angle of the steering wheel according to the identified rotation angle signal, the method further includes: When the rotation angle is greater than or equal to a second preset angle, the torque value of the torque is reduced to a preset value through the intelligent four-wheel drive system.

5. The method according to any one of claims 2 or 3, characterized in that The method further comprises: When the rotation angle is greater than the first preset angle and less than the second preset angle, and the rotation angle gradually increases, based on the energy recovery intensity parameter, the change rate of the torque value of the torque corresponding to the rotation angle is determined, and the torque value of the loaded torque is gradually reduced according to the change rate. The change rate is less than 0, and the absolute value of the change rate is positively correlated with the energy recovery intensity parameter.

6. The method according to claim 2, characterized in that The determining, based on the energy recovery intensity parameter, a corresponding torque value of the torque of the vehicle includes: determining, according to the energy recovery intensity parameter, a torque value corresponding to the energy recovery intensity parameter, wherein the energy recovery intensity parameter is positively correlated with the torque value corresponding to the energy recovery intensity parameter; According to the torque value corresponding to the energy recovery intensity parameter, the torque value of the torque of the vehicle is adjusted to the torque value corresponding to the energy recovery intensity parameter.

7. The method according to claim 1, characterized in that The method further comprises: presetting a torque loading rate when the intelligent four-wheel drive system enters the kinetic energy recovery mode based on historical vehicle movement data, wherein the loading rate represents a speed at which the torque value is loaded when the intelligent four-wheel drive system enters the kinetic energy recovery mode; and Based on the historical movement data of the vehicle, the release rate of the torque when the intelligent four-wheel drive system exits the kinetic energy recovery mode is pre-set, and the release rate represents the speed at which the torque value of the loaded torque is released when the intelligent four-wheel drive system exits the kinetic energy recovery mode.

8. The method according to claim 1, characterized in that : According to the rotation angle signal and the energy recovery intensity parameter, the torque of the vehicle is loaded through the intelligent four-wheel drive system, further comprising: The torque of the vehicle is loaded through the intelligent four-wheel drive system according to the rotation angle signal, the driving speed of the vehicle and the energy recovery intensity parameter.

9. A vehicle energy recovery device, characterized in that: The intelligent four-wheel drive system used in vehicles includes: a receiving module, configured to receive an energy recovery request signal sent by a power system controller of a vehicle, wherein the energy recovery request signal includes an energy recovery intensity parameter; an identification module, configured to, based on the energy recovery request signal, cause the intelligent four-wheel drive system to enter a kinetic energy recovery mode and identify a steering wheel rotation angle signal of the vehicle, wherein in the kinetic energy recovery mode, the vehicle is in a two-wheel drive state, and the two-wheel drive state includes: a front-wheel drive state or a rear-wheel drive state; An energy recovery module is used to load the torque of the vehicle through the intelligent four-wheel drive system according to the rotation angle signal and the energy recovery intensity parameter, so that the vehicle enters the four-wheel drive state and performs energy recovery of the vehicle.

10. A vehicle, characterized in that: The method comprises a processor and a memory electrically connected to the processor, wherein the memory stores a computer program, and the processor is used to call and execute the computer program from the memory to implement a vehicle energy recovery method as claimed in any one of claims 1 to 8.

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