Vehicle motor energy recovery control method, device, equipment, medium and product

Abstract

The application discloses a vehicle motor energy recovery control method. The method comprises the following steps: in vehicle driving, if it is detected that the driver releases the accelerator or steps on the brake, the actual charging power of the battery is acquired; the current motor recovery capability limit is determined according to the actual charging power of the battery; and the vehicle is controlled to perform corresponding motor energy recovery operation according to the current motor recovery capability limit, so that the vehicle is decelerated. The method can solve the problem that the battery is overcharged, the battery performance is damaged and the service life of the battery is shortened when the motor energy is recovered.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a vehicle motor energy recovery control method, device, electronic equipment, readable storage medium, and computer program product. Background Technology

[0002] Currently, with the increasing popularity of new energy vehicles, energy recovery technology is crucial for improving vehicle range and energy efficiency. During vehicle operation, energy recovery is typically performed according to a fixed limit on the motor's recovery capacity, meaning the upper limit of energy recovery power during braking or deceleration is preset. However, in practice, it has been found that when the battery is fully charged, if operation is still based on the fixed motor recovery capacity, the recovered power cannot be fully consumed by vehicle accessories. The excess power continues to flow into the battery, leading to overcharging, damaging battery performance, and shortening battery life. Summary of the Invention

[0003] In view of the above problems, this application provides a vehicle motor energy recovery control method, device, electronic device, readable storage medium and computer program product, which can solve the problem that motor energy recovery will cause battery overcharging, damage battery performance and shorten battery life.

[0004] In a first aspect, [A1] this application provides a vehicle motor energy recovery control method, comprising: While the vehicle is in motion, if the driver releases the accelerator or applies the brake, the actual charging power of the battery is obtained. The current motor recovery capacity limit is determined based on the actual charging power of the battery. Based on the current motor recovery capacity limit, the closed-loop control system performs the corresponding motor energy recovery operation to decelerate the vehicle.

[0005] In the above technical solution [A2], the method can dynamically adjust the motor recovery capacity limit according to the actual charging power of the battery, avoid battery overcharging, optimize the energy recovery process, improve battery performance and service life, and ensure safe deceleration of the vehicle.

[0006] In some embodiments [A3], determining the current motor recovery capacity limit based on the actual charging power of the battery includes: Obtain the original maximum regenerative braking power of the motor and the allowable charging power of the battery; Calculate the current battery overcharge power based on the original maximum recovery power of the motor and the actual charging power of the battery; When it is determined that the current battery is overcharged based on the current battery overcharge power, the current motor recovery capacity limit is determined based on the current battery overcharge power, the actual charging power of the battery, the original maximum recovery power of the motor, and the battery's allowable charging power.

[0007] In the above technical solution [A4], the method can accurately assess the battery charging status. By combining the original maximum recovery power of the motor, the actual charging power of the battery, and the allowable charging power of the battery, the current motor recovery capacity limit can be dynamically and reasonably determined, effectively preventing battery overcharging, ensuring battery health and safety, and optimizing energy recovery efficiency.

[0008] In some implementations [A5], determining the current motor recovery capacity limit based on the current battery overcharge power, the actual battery charging power, the original maximum recovery power of the motor, and the battery's allowable charging power includes: When the current battery overcharging power is greater than the first power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor, the actual charging power of the battery, the battery's allowable charging power, and the maximum power threshold. When the current battery overcharging power is not greater than the first power threshold but greater than the second power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor and the first power threshold. When the current battery overcharging power is less than the second power threshold, the current motor recycling capacity limit is determined based on the original maximum recycling power of the motor and the second power threshold. Wherein, the maximum power threshold is greater than the first power threshold, and the first power threshold is greater than the second power threshold.

[0009] In the above technical solution [A6], the method can finely control the motor recycling capacity limit through a graded threshold strategy, dynamically adapt the recycling power according to different ranges of battery overcharging power, maximize energy recycling efficiency while avoiding battery overcharging, and achieve a balance between safety and energy efficiency.

[0010] In some embodiments [A7], the method further includes: When it is determined that the battery is not overcharged based on the current battery overcharge power, the original motor recovery capacity limit is obtained; The original motor recovery capacity limit is adjusted upwards based on the original maximum recovery power of the motor and the preset adjustment range to obtain the current motor recovery capacity limit.

[0011] In the above technical solution [A8], the method can fully tap the potential of energy recovery by flexibly adjusting the motor recovery capacity limit (within a preset safety range) when the battery is not overcharged, thereby further improving the vehicle's range and energy efficiency, while ensuring the stability of system operation.

[0012] In some implementations [A9], obtaining the original maximum recoverable power of the motor includes: Obtain the battery's maximum recovery power, accessory power consumption, and reserved power; The original maximum regenerative power of the motor is calculated based on the maximum regenerative power of the battery, the power consumed by the accessory, and the reserved power.

[0013] In the above technical solution [A10], the method can comprehensively consider battery performance, vehicle accessory energy consumption and safety redundancy requirements, accurately calculate the original maximum recovery power of the motor, and provide a more realistic benchmark parameter for energy recovery control, thereby improving system reliability and energy efficiency optimization.

[0014] In a second aspect [A11], this application provides a vehicle motor energy recovery control device, comprising: The acquisition unit is used to acquire the actual charging power of the battery when the driver releases the accelerator or applies the brake while the vehicle is in motion. The determining unit is used to determine the current motor recovery capacity limit based on the actual charging power of the battery; The control unit is used to limit the closed-loop control of the vehicle to perform corresponding motor energy recovery operations based on the current motor recovery capacity, so as to decelerate the vehicle.

[0015] In the above technical solution [A12], the device can dynamically adjust the motor recovery capacity limit according to the actual charging power of the battery, avoid overcharging the battery, optimize the energy recovery process, improve battery performance and service life, and ensure safe deceleration of the vehicle.

[0016] In some embodiments [A13], the determining unit includes: The acquisition sub-unit is used to obtain the original maximum regenerative power of the motor and the allowable charging power of the battery; The calculation subunit is used to calculate the current battery overcharge power based on the original maximum recovery power of the motor and the actual charging power of the battery. The determination subunit is used to determine the current motor recovery capacity limit when the current battery is determined to be overcharged based on the current battery overcharge power, the actual charging power of the battery, the original maximum recovery power of the motor, and the allowed charging power of the battery.

[0017] In the above technical solution [A14], the device can accurately assess the battery charging status, and dynamically and reasonably determine the current motor recycling capacity limit by combining the original maximum recovery power of the motor, the actual charging power of the battery and the allowable charging power of the battery, effectively preventing battery overcharging, ensuring battery health and safety, and optimizing energy recovery efficiency.

[0018] In a third aspect [A15], this application provides an electronic device including a memory and a processor, the memory storing a computer program, and the processor running the computer program to cause the electronic device to perform the vehicle motor energy recovery control method described in any one of the first aspects.

[0019] In a fourth aspect [A16], this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the vehicle motor energy recovery control method described in any one of the first aspects.

[0020] Fifth aspect [A17], this application provides a computer program product comprising a computer program that, when executed by a processor, performs the vehicle motor energy recovery control method described in any one of the first aspects.

[0021] The beneficial effects of this application are as follows: This method can upgrade the motor recovery capability from open-loop restriction to closed-loop restriction, monitor the overcharge status of the battery, and dynamically adjust the restriction on the motor recovery capability in real time. This avoids the battery reporting an overcharge fault due to inaccurate power consumption of accessories under vehicle recovery conditions, thereby effectively reducing the occurrence of battery overcharge faults when the vehicle is fully charged. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating the vehicle motor energy recovery control method in some embodiments of this application; Figure 2 This is a flowchart illustrating the vehicle motor energy recovery control method in some embodiments of this application; Figure 3 This is a schematic diagram of the structure of a vehicle motor energy recovery control device in some embodiments of this application; Figure 4This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0024] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0029] Motor energy recovery refers to the function of a vehicle's motor during operation, converting some of the vehicle's kinetic energy into electrical energy and feeding it back to the battery or other electrical devices. Currently, the limitation on the motor's recovery capacity during vehicle operation is the battery's recovery capacity + accessory power consumption - reserved power. However, when the battery is fully charged, it has no recovery capacity. In this case, inaccurate reporting of accessory power consumption may lead to the recovery power generated by the motor not being fully utilized by the accessories, resulting in some of it being pumped into the battery, causing overcharging.

[0030] To address the aforementioned technical problems, this application provides a vehicle motor energy recovery control method. This method can change the limitation of the motor's recovery capacity from an open-loop to a closed-loop system, thereby adjusting the motor's recovery capacity in real time according to the battery's overcharging status, and thus preventing overcharging of the fully charged battery during motor energy recovery.

[0031] like Figure 1 As shown in [A18], some embodiments of this application provide a vehicle motor energy recovery control method, which includes: S101. When the vehicle is in motion, if it is detected that the driver releases the accelerator or steps on the brake, the actual charging power of the battery is obtained. S102. Determine the current motor recovery capacity limit based on the actual charging power of the battery; S103. Based on the current motor recovery capacity limit, the closed-loop control of the vehicle performs the corresponding motor energy recovery operation to decelerate the vehicle. In some embodiments [A19], if the driver is detected pressing the accelerator, the motor drive torque is adjusted to accelerate the vehicle.

[0032] For example, when the driver presses the accelerator pedal, this method can capture this action through an accelerator pedal position sensor and convert it into an electrical signal, which is then sent to the vehicle's control unit (ECU). When the control unit receives this signal, it can combine it with information such as the current vehicle driving status (e.g., vehicle speed, gear), battery charge, and motor operating temperature to perform comprehensive analysis and calculation, obtaining a calculation result. This calculation result allows the control unit to generate a precise command signal and send it to the motor controller. After receiving the command, the motor controller can quickly adjust the on / off state of its internal power switching devices, thereby changing the magnitude and phase of the voltage and current applied to the motor windings. Based on these changes, the motor adjusts its magnetic field strength and rotational speed accordingly, thereby changing the output drive torque, increasing the drive torque, and ultimately propelling the vehicle to accelerate according to the driver's intention to press the accelerator.

[0033] In some embodiments, if the driver releases the accelerator or applies the brake, energy is recovered by the motor to achieve deceleration. To prevent overcharging of the battery when it is fully charged, the method can change the motor's energy recovery capacity limitation from an open-loop to a closed-loop system, adjusting the motor's recovery capacity in real time based on the battery's overcharging status. The corresponding calculation formula is as follows: Originally, the maximum power recovered by the motor = the maximum power recovered by the battery + the power consumed by accessories - the reserved power.

[0034] In the above embodiment [A20], the method can dynamically adjust the motor recovery capacity limit according to the actual charging power of the battery, avoid overcharging of the battery, optimize the energy recovery process, improve battery performance and service life, and ensure safe deceleration of the vehicle.

[0035] In some embodiments [A21], determining the current motor recovery capacity limit based on the actual charging power of the battery includes: Obtain the original maximum regenerative braking power of the motor and the allowable charging power of the battery; Calculate the current battery overcharge power based on the original maximum recovery power of the motor and the actual charging power of the battery; When the current battery is determined to be overcharged based on the current battery overcharge power, the current motor recovery capacity limit is determined based on the current battery overcharge power, the actual charging power of the battery, the original maximum recovery power of the motor, and the battery's allowable charging power.

[0036] In the above embodiment [A22], the method can accurately assess the battery charging status. By combining the original maximum recovery power of the motor, the actual charging power of the battery, and the allowable charging power of the battery, the current motor recovery capacity limit can be dynamically and reasonably determined, effectively preventing battery overcharging, ensuring battery health and safety, and optimizing energy recovery efficiency.

[0037] In some embodiments [A23], the current motor recovery capacity limit is determined based on the current battery overcharge power, the actual battery charge power, the original maximum recovery power of the motor, and the battery's allowable charging power, including: When the current battery overcharging power is greater than the first power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor, the actual charging power of the battery, the battery's allowable charging power, and the maximum power threshold. When the current battery overcharging power is not greater than the first power threshold but greater than the second power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor and the first power threshold. When the current battery overcharging power is less than the second power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor and the second power threshold. Among them, the maximum power threshold is greater than the first power threshold, and the first power threshold is greater than the second power threshold.

[0038] In some embodiments [A24], the first power threshold can be 5 kW; the maximum power threshold can be 8 kW; and the second power threshold can be 3 kW.

[0039] For example, when the battery overcharge exceeds 5kW, the motor recovery capacity limit is adjusted to: original maximum motor recovery power - max[actual battery charging power - battery allowed charging power, 8kW]; When the battery overcharge is greater than 3kW but less than 5kW, the motor recovery capacity limit is adjusted to: the original maximum motor recovery power - 5kW. When the battery overcharge is less than 3kW, the motor's recycling capacity limit is adjusted to: the original maximum recycling power of the motor -3kW.

[0040] In the above embodiment [A25], the method can finely control the motor recycling capacity limit through a graded threshold strategy, dynamically adapt the recycling power according to different ranges of battery overcharging power, maximize energy recycling efficiency while avoiding battery overcharging, and achieve a balance between safety and energy efficiency.

[0041] In some embodiments [A26], the method further includes: When it is determined that the battery is not overcharged based on the current battery overcharge power, the original motor recovery capacity limit is obtained; The original motor recovery capacity limit is adjusted upwards based on the original maximum recovery power of the motor and the preset adjustment range to obtain the current motor recovery capacity limit.

[0042] For example, when the battery's maximum recovery power minus the battery's actual charging power is greater than a certain value and lasts for a certain period of time, it indicates that the battery is no longer overcharged. At this point, the motor's recovery capacity can be slowly adjusted upwards, increasing by 100W every 100ms, but it must not exceed the original maximum recovery power of the motor.

[0043] In the above embodiment [A27], the method can fully tap the potential of energy recovery by flexibly adjusting the motor recovery capacity limit (within a preset safety range) when the battery is not overcharged, thereby further improving the vehicle's range and energy efficiency, while ensuring the stability of system operation.

[0044] In some embodiments [A28], obtaining the original maximum regenerative power of the motor includes: Obtain the battery's maximum recovery power, accessory power consumption, and reserved power; Calculate the original maximum regenerative power of the motor based on the battery's maximum regenerative power, the power consumed by the accessories, and the reserved power.

[0045] In the above embodiment [A29], the method can comprehensively consider battery performance, vehicle accessory energy consumption and safety redundancy requirements, accurately calculate the original maximum recovery power of the motor, and provide a more realistic benchmark parameter for energy recovery control, thereby improving system reliability and energy efficiency optimization.

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below. In some embodiments [A30], such as Figure 2 As shown, the vehicle motor energy recovery control method includes: S201. When the vehicle is in motion, if it is detected that the driver releases the accelerator or steps on the brake, the actual charging power of the battery is obtained. S202, Obtain the battery's maximum recovery power, accessory power consumption and reserved power, and the battery's allowable charging power; S203. Calculate the original maximum recyclable power of the motor based on the maximum recyclable power of the battery, the power consumed by the accessories, and the reserved power; and trigger the execution of step S204 or S206.

[0047] S204. Calculate the current battery overcharge power based on the original maximum recovery power of the motor and the actual charging power of the battery. S205. When it is determined that the current battery is overcharged based on the current battery overcharge power, determine the current motor recovery capacity limit based on the current battery overcharge power, the actual charging power of the battery, the original maximum recovery power of the motor, and the battery's allowable charging power; and execute step S208. S206. When it is determined that the current battery is not overcharged based on the current battery overcharge power, obtain the original motor recovery capacity limit; S207. Adjust the original motor recovery capacity limit upward based on the original maximum recovery power of the motor and the preset adjustment range to obtain the current motor recovery capacity limit; and execute step S208. S208. Based on the current motor recovery capacity limit, the closed-loop control of the vehicle performs the corresponding motor energy recovery operation to decelerate the vehicle.

[0048] Figure 3 A schematic diagram of a vehicle motor energy recovery control device is shown. It should be understood that this device is related to... Figure 1 The method executed in the middle corresponds to the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0049] [A31] The vehicle motor energy recovery control device includes: The acquisition unit 310 is used to acquire the actual charging power of the battery when the driver releases the accelerator or steps on the brake while the vehicle is in motion. Determining unit 320 is used to determine the current motor recovery capacity limit based on the actual charging power of the battery; The control unit 330 is used to limit the closed-loop control of the vehicle to perform corresponding motor energy recovery operations based on the current motor recovery capacity, so as to decelerate the vehicle.

[0050] In some embodiments [A32], the determining unit 320 includes: Acquisition subunit 321 is used to acquire the original maximum regenerative power of the motor and the allowable charging power of the battery; The calculation subunit 322 is used to calculate the current battery overcharge power based on the original maximum recovery power of the motor and the actual charging power of the battery. The determination subunit 323 is used to determine the current motor recovery capacity limit when the current battery is determined to be overcharged based on the current battery overcharge power, the actual charging power of the battery, the original maximum recovery power of the motor, and the allowed charging power of the battery.

[0051] In some embodiments, the determining subunit 323 is specifically used to determine the current motor recovery capacity limit based on the original maximum recovery power of the motor, the actual charging power of the battery, the allowed charging power of the battery, and the maximum power threshold when the current battery overcharging power is greater than the first power threshold. When the current battery overcharging power is not greater than the first power threshold but greater than the second power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor and the first power threshold. When the current battery overcharging power is less than the second power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor and the second power threshold. Among them, the maximum power threshold is greater than the first power threshold, and the first power threshold is greater than the second power threshold.

[0052] In some embodiments, the determining unit 320 further includes: The acquisition subunit 321 is also used to acquire the original motor recycling capacity limit when it is determined that the current battery is not overcharged based on the current battery overcharge power. The adjustment subunit 324 is used to adjust the original motor recovery capacity limit upward based on the original maximum recovery power of the motor and the preset adjustment range to obtain the current motor recovery capacity limit.

[0053] In some embodiments, the acquisition subunit 321 is specifically used to acquire the maximum battery recovery power, the accessory consumption power, and the reserved power; and to calculate the original maximum recovery power of the motor based on the maximum battery recovery power, the accessory consumption power, and the reserved power.

[0054] like Figure 4As shown in [A33], this application provides an electronic device 400, which includes a processor 401 and a memory 402. The processor 401 and the memory 402 are interconnected and communicate with each other through a communication bus 403 and / or other forms of connection mechanism (not shown). The memory 402 stores a computer program that can be executed by the processor 401. When the computing device is running, the processor 401 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0055] This application provides a computer-readable storage medium [A34] storing a computer program that, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0056] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0057] This application provides a computer program product [A35], which includes a computer programmable that, when run by a processor, executes the method in any of the aforementioned optional implementations.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for controlling energy recovery in a vehicle motor, characterized in that, include: While the vehicle is in motion, if the driver releases the accelerator or applies the brake, the actual charging power of the battery is obtained. The current motor recycling capacity limit is determined based on the actual charging power of the battery. Based on the current motor recovery capacity limit, the closed-loop control system performs the corresponding motor energy recovery operation to decelerate the vehicle. The step of determining the current motor recycling capacity limit based on the actual charging power of the battery includes: Obtain the original maximum regenerative braking power of the motor and the allowable charging power of the battery; Calculate the current battery overcharge power based on the original maximum recovery power of the motor and the actual charging power of the battery; When it is determined that the current battery is overcharged based on the current battery overcharge power, the current motor recovery capacity limit is determined based on the current battery overcharge power, the actual charging power of the battery, the original maximum recovery power of the motor, and the allowed charging power of the battery. The step of determining the current motor recovery capacity limit based on the current battery overcharge power, the actual battery charging power, the original maximum recovery power of the motor, and the battery's allowed charging power includes: When the current battery overcharging power is greater than the first power threshold, the current motor recycling capacity limit is determined based on the original maximum recovery power of the motor, the actual charging power of the battery, the allowed charging power of the battery, and the maximum power threshold. When the current battery overcharging power is not greater than the first power threshold but greater than the second power threshold, the current motor recovery capacity limit is determined based on the original maximum recovery power of the motor and the first power threshold. When the current battery overcharging power is less than the second power threshold, the current motor recycling capacity limit is determined based on the original maximum recycling power of the motor and the second power threshold. Wherein, the maximum power threshold is greater than the first power threshold, and the first power threshold is greater than the second power threshold.

2. The vehicle motor energy recovery control method according to claim 1, characterized in that, The method further includes: When it is determined that the battery is not overcharged based on the current battery overcharge power, the original motor recovery capacity limit is obtained; The original motor recovery capacity limit is adjusted upwards based on the original maximum recovery power of the motor and the preset adjustment range to obtain the current motor recovery capacity limit.

3. The vehicle motor energy recovery control method according to claim 1, characterized in that, The process of obtaining the original maximum recoverable power of the motor includes: Obtain the battery's maximum recovery power, accessory power consumption, and reserved power; The original maximum regenerative power of the motor is calculated based on the maximum regenerative power of the battery, the power consumed by the accessory, and the reserved power.

4. A vehicle motor energy recovery control device, characterized in that, The vehicle motor energy recovery control device includes: The acquisition unit is used to acquire the actual charging power of the battery when the driver releases the accelerator or applies the brake while the vehicle is in motion. The determining unit is used to determine the current motor recycling capacity limit based on the actual charging power of the battery; The control unit is used to perform corresponding motor energy recovery operations by limiting the current motor recovery capacity of the vehicle in a closed-loop control system, so as to decelerate the vehicle. The determining unit includes: The acquisition sub-unit is used to obtain the original maximum regenerative power of the motor and the allowable charging power of the battery; The calculation subunit is used to calculate the current battery overcharge power based on the original maximum recovery power of the motor and the actual charging power of the battery. The determination subunit is used to determine the current motor recovery capacity limit based on the current battery overcharge power, the actual charging power of the battery, the original maximum recovery power of the motor, and the allowed charging power of the battery when it is determined that the current battery is overcharged according to the current battery overcharge power. Specifically, the determining subunit is used to determine the current motor recycling capacity limit based on the original maximum recycling power of the motor, the actual charging power of the battery, the allowed charging power of the battery, and the maximum power threshold when the current battery overcharging power is greater than a first power threshold; to determine the current motor recycling capacity limit based on the original maximum recycling power of the motor and the first power threshold when the current battery overcharging power is not greater than the first power threshold but greater than a second power threshold; and to determine the current motor recycling capacity limit based on the original maximum recycling power of the motor and the second power threshold when the current battery overcharging power is less than the second power threshold. Wherein, the maximum power threshold is greater than the first power threshold, and the first power threshold is greater than the second power threshold.

5. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the vehicle motor energy recovery control method according to any one of claims 1 to 3.

6. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, performs the vehicle motor energy recovery control method according to any one of claims 1 to 3.

7. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, performs the vehicle motor energy recovery control method according to any one of claims 1 to 3.

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