Vehicle sliding energy recovery control method and device, medium and product

Abstract

The invention provides a vehicle sliding energy recovery control method and device, a medium and a product, and relates to the technical field of automobiles. The method comprises the following steps: in response to monitoring that a vehicle meets a sliding energy recovery cycle working condition, obtaining an average sliding deceleration of the vehicle in a previous sliding energy recovery cycle working condition; according to the average sliding deceleration, the sliding energy recovery torque coefficient of the vehicle under the current sliding energy recovery cycle working condition is determined; based on the sliding energy recovery torque coefficient, the target sliding energy recovery torque of the vehicle under the current sliding energy recovery cycle working condition is determined; and the target sliding energy recovery torque is adopted, and a motor of the vehicle is controlled to conduct sliding energy recovery under the current sliding energy recovery cycle working condition. According to the invention, the sliding energy recovery efficiency of the vehicle is improved.

Description

Technical Field

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

[0002] Vehicle coasting energy recovery is one of the core technologies for new energy vehicles to improve their endurance and energy utilization efficiency. It converts kinetic energy into electrical energy and stores it in a power battery or supercapacitor when the vehicle is coasting or in non-emergency braking conditions, thereby reducing mechanical braking losses and extending the range.

[0003] Currently, existing vehicle coasting energy regeneration control methods typically use a fixed regeneration level strategy. This involves using a table to determine the coasting regeneration torque based on the driver's pre-selected coasting energy regeneration intensity level and the vehicle's current speed. This regeneration torque is then sent to the vehicle's motor to trigger coasting energy regeneration. However, this approach results in low coasting energy regeneration efficiency. Summary of the Invention

[0004] The present application provides a vehicle coasting energy recovery control method, device, medium and product to improve the vehicle's coasting energy recovery efficiency.

[0005] In a first aspect, the present application provides a method for controlling vehicle coasting energy recovery, comprising:

[0006] In response to monitoring that the vehicle meets the requirements for entering a coasting energy recovery cycle operating condition, obtaining an average coasting deceleration of the vehicle during a previous coasting energy recovery cycle operating condition;

[0007] determining a coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle according to the average coasting deceleration;

[0008] Determining a target coasting energy recovery torque for the vehicle in a current coasting energy recovery cycle based on the coasting energy recovery torque coefficient;

[0009] The target coasting energy recovery torque is used to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle condition.

[0010] In one possible implementation, determining the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle according to the average coasting deceleration includes:

[0011] When the average coasting deceleration is less than a speed threshold and the duration of the previous coasting energy recovery cycle is greater than a duration threshold, the ratio of the average coasting deceleration to the vehicle's corresponding set deceleration is determined as the vehicle's coasting energy recovery torque coefficient for the current coasting energy recovery cycle. The set deceleration is determined based on the performance requirements of the vehicle model and is calibrated on an actual vehicle to ensure that the vehicle's driving meets smoothness requirements.

[0012] When the average coasting deceleration is greater than or equal to a speed threshold, and / or the duration is less than or equal to a duration threshold, the coasting energy recovery torque coefficient of the vehicle in the previous coasting energy recovery cycle condition is determined as the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition.

[0013] In one possible implementation, determining a target coasting energy recovery torque of the vehicle in a current coasting energy recovery cycle based on the coasting energy recovery torque coefficient includes:

[0014] Determining a basic coasting energy recovery torque corresponding to the current vehicle speed based on a correspondence between the vehicle speed and the basic coasting energy recovery torque;

[0015] The coasting energy recovery torque coefficient is multiplied by the basic coasting energy recovery torque corresponding to the current vehicle speed to obtain the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle condition.

[0016] In one possible implementation, the average coasting deceleration is determined by:

[0017] Obtain the initial velocity and final velocity of the vehicle during the previous coasting energy recovery cycle;

[0018] The average coasting deceleration is determined based on the initial velocity, the final velocity, and the duration of the vehicle's last coasting energy recovery cycle.

[0019] In one possible implementation, monitoring whether the vehicle meets the requirements for entering a coasting energy recovery cycle includes:

[0020] When the vehicle is in the automatic coasting mode, determining whether the vehicle meets a loop judgment condition, the loop judgment condition including: the vehicle's parking time is less than or equal to a time threshold, the vehicle speed is within a preset coasting energy recovery coefficient speed range, and the motor is recovering negative torque;

[0021] When all cycle judgment conditions are met, it is determined that the vehicle meets the requirements for entering the coasting energy recovery cycle;

[0022] When any one of the cycle judgment conditions is not met, it is determined that the vehicle does not meet the requirements for entering the coasting energy recovery cycle condition.

[0023] In a possible implementation, monitoring whether the vehicle meets the prerequisites for entering the coasting energy recovery cycle includes: monitoring that the vehicle is in an automatic coasting mode.

[0024] In a possible implementation, the method further includes:

[0025] If it is detected that the vehicle is in the automatic coasting mode and the vehicle does not meet the requirements for entering the coasting energy recovery cycle operating condition, the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle operating condition is determined to be 1;

[0026] The target coasting energy recovery torque is used to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle condition.

[0027] In one possible implementation, monitoring whether the vehicle is in the automatic coasting mode includes:

[0028] determining whether the vehicle meets a mode determination condition, the mode determination condition including: the vehicle is in a high-voltage state, the vehicle is in a forward gear, the vehicle's parking brake is released, the vehicle's brake pedal is not depressed, the vehicle's accelerator pedal is not depressed, the vehicle's motor is in a non-faulty state, the vehicle's battery is in a non-faulty state, and the vehicle's coasting mode is in an automatic mode;

[0029] When all mode judgment conditions are met, determining that the vehicle is in automatic coasting mode;

[0030] When any one of the mode determination conditions is not satisfied, it is determined that the vehicle is not in the automatic coasting mode.

[0031] In a second aspect, the present application provides a vehicle coasting energy recovery control device, comprising:

[0032] an acquisition module, configured to, in response to monitoring that the vehicle meets the requirements for entering a coasting energy recovery cycle, acquire an average coasting deceleration of the vehicle during a previous coasting energy recovery cycle;

[0033] a determination module configured to determine a coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle according to the average coasting deceleration; and determine a target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle based on the coasting energy recovery torque coefficient;

[0034] The control module is used to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle using a target coasting energy recovery torque.

[0035] In a possible implementation, the determination module is specifically configured to:

[0036] When the average coasting deceleration is less than a speed threshold and the duration of the previous coasting energy recovery cycle is greater than a duration threshold, the ratio of the average coasting deceleration to the vehicle's corresponding set deceleration is determined as the vehicle's coasting energy recovery torque coefficient for the current coasting energy recovery cycle. The set deceleration is determined based on the performance requirements of the vehicle model and is calibrated on an actual vehicle to ensure that the vehicle's driving meets smoothness requirements.

[0037] When the average coasting deceleration is greater than or equal to a speed threshold, and / or the duration is less than or equal to a duration threshold, the coasting energy recovery torque coefficient of the vehicle in the previous coasting energy recovery cycle condition is determined as the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition.

[0038] In a possible implementation, the determination module is specifically configured to:

[0039] Determining a basic coasting energy recovery torque corresponding to the current vehicle speed based on a correspondence between the vehicle speed and the basic coasting energy recovery torque;

[0040] The coasting energy recovery torque coefficient is multiplied by the basic coasting energy recovery torque corresponding to the current vehicle speed to obtain the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle condition.

[0041] In a possible implementation, the determination module is specifically configured to:

[0042] Obtain the initial velocity and final velocity of the vehicle during the previous coasting energy recovery cycle;

[0043] The average coasting deceleration is determined based on the initial velocity, the final velocity, and the duration of the vehicle's last coasting energy recovery cycle.

[0044] In a possible implementation, the vehicle coasting energy recovery control device further includes a processing module, which is specifically configured to:

[0045] When the vehicle is in the automatic coasting mode, determining whether the vehicle meets a loop judgment condition, the loop judgment condition including: the vehicle's parking time is less than or equal to a time threshold, the vehicle speed is within a preset coasting energy recovery coefficient speed range, and the motor is recovering negative torque;

[0046] When all cycle judgment conditions are met, it is determined that the vehicle meets the requirements for entering the coasting energy recovery cycle;

[0047] When any one of the cycle judgment conditions is not met, it is determined that the vehicle does not meet the requirements for entering the coasting energy recovery cycle condition.

[0048] In a possible implementation, the processing module is further configured to: detect that the vehicle is in an automatic coasting mode.

[0049] In a possible implementation, the determination module is further configured to:

[0050] If it is detected that the vehicle is in the automatic coasting mode and the vehicle does not meet the requirements for entering the coasting energy recovery cycle operating condition, the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle operating condition is determined to be 1;

[0051] The target coasting energy recovery torque is used to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle condition.

[0052] In a possible implementation, the processing module is specifically configured to:

[0053] determining whether the vehicle meets a mode determination condition, the mode determination condition including: the vehicle is in a high-voltage state, the vehicle is in a forward gear, the vehicle's parking brake is released, the vehicle's brake pedal is not depressed, the vehicle's accelerator pedal is not depressed, the vehicle's motor is in a non-faulty state, the vehicle's battery is in a non-faulty state, and the vehicle's coasting mode is in an automatic mode;

[0054] When all mode judgment conditions are met, determining that the vehicle is in automatic coasting mode;

[0055] When any one of the mode determination conditions is not satisfied, it is determined that the vehicle is not in the automatic coasting mode.

[0056] In a third aspect, the present application provides an electronic device, comprising: a memory, a processor;

[0057] The memory stores computer-executable instructions;

[0058] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0059] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the above first aspect and / or various possible implementation methods of the first aspect.

[0060] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed, implements the above first aspect and / or various possible implementations of the first aspect.

[0061] The present application provides a vehicle coasting energy recovery control method, device, medium, and product, relating to the field of automotive technology. The method comprises: in response to monitoring that a vehicle meets the requirements for entering a coasting energy recovery cycle, obtaining the vehicle's average coasting deceleration during the previous coasting energy recovery cycle; determining the vehicle's coasting energy recovery torque coefficient for the current coasting energy recovery cycle based on the average coasting deceleration; determining a target coasting energy recovery torque for the vehicle in the current coasting energy recovery cycle based on the coasting energy recovery torque coefficient; and controlling the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle using the target coasting energy recovery torque. The present application obtains the average coasting deceleration of the vehicle during the previous coasting energy recovery cycle condition in response to monitoring that the vehicle meets the requirements for entering the coasting energy recovery cycle condition, and determines the coasting energy recovery torque coefficient of the vehicle during the current coasting energy recovery cycle condition based on the average coasting deceleration; uses the coasting energy recovery torque coefficient to dynamically control the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle condition, so that the determined target coasting energy recovery torque can cover different vehicle weights and slope conditions without adding sensors, thereby solving the cost increase problem caused by adding sensors; uses the target coasting energy recovery torque to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle condition, thereby improving the vehicle's coasting energy recovery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0063] Figure 1 Schematic diagram of the process of the vehicle coasting energy recovery control method provided in the embodiment of the present application Figure 1 ;

[0064] Figure 2 Schematic diagram of the process of the vehicle coasting energy recovery control method provided in the embodiment of the application Figure 2 ;

[0065] Figure 3 A schematic diagram of a calculation flow for a coasting energy recovery torque coefficient of a vehicle in a current coasting energy recovery cycle according to an embodiment of the present application;

[0066] Figure 4 A schematic diagram of the structure of the vehicle coasting energy recovery control device provided in this application;

[0067] Figure 5 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application.

[0068] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0069] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0070] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, processing, transmission, provision, disclosure and application of relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0071] In addition, this application involves conducting big data analysis of user information (including but not limited to personal biometrics, identity data, consumption data, asset data, electronic terminal operation data, etc.), and using artificial intelligence technology to make automated decisions, and making technical solutions that have a significant impact on personal rights and interests based on the results of automated decisions. The application provides users with corresponding operation entrances for them to choose to agree or reject the results of automated decisions; if the user chooses to reject, the expert decision-making process will be entered.

[0072] As a basic configuration function of new energy vehicles, vehicle coasting energy recovery technology has become one of the core means to improve vehicle endurance and energy utilization efficiency. Coasting energy recovery is the process of converting vehicle kinetic energy into electrical energy through motor reverse drag or energy conversion device and storing it in power batteries or supercapacitors when the vehicle is coasting or in non-emergency braking conditions, thereby reducing mechanical braking losses and extending cruising range.

[0073] Existing vehicle coasting energy recovery control methods also use a proportional-integral-derivative controller (PID) algorithm to set the coasting deceleration to dynamically adjust the vehicle's coasting energy recovery torque during the current coasting energy recovery cycle.

[0074] The above method not only results in low coasting energy recovery efficiency, but also creates a contradiction between driving experience and recovery performance. The reason is that high recovery intensity easily causes a dragging feeling, affecting driving smoothness;

[0075] To address these issues, some companies have adopted the approach of adding slope sensors, vehicle weight sensors, and acceleration sensors to incorporate slope, vehicle weight, and acceleration dimensions. This approach maximizes the utilization of coasting energy recovery under varying slope and vehicle weight conditions. However, this significantly increases vehicle cost, making mid- and low-end models less competitive. Therefore, an automated coasting energy recovery control method is urgently needed that can cover coasting recovery under varying vehicle weights and slopes without increasing vehicle cost, thereby maximizing the utilization of recovered energy and improving range.

[0076] In response to the above needs, the present application provides a vehicle coasting energy recovery control method. When the vehicle is monitored to meet the requirements for entering a coasting energy recovery cycle operating condition, the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle operating condition is determined based on the average coasting deceleration of the vehicle in the previous coasting energy recovery cycle operating condition; the coasting energy recovery torque coefficient is used to dynamically control the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle operating condition; the target coasting energy recovery torque is used to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle operating condition, thereby improving the vehicle's coasting energy recovery efficiency.

[0077] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0078] Figure 1 Schematic diagram of the process of the vehicle coasting energy recovery control method provided in the embodiment of the present application Figure 1 ,like Figure 1 As shown, the method includes:

[0079] S101: In response to monitoring that a vehicle meets conditions for entering a coasting energy recovery cycle, an average coasting deceleration of the vehicle during a previous coasting energy recovery cycle is obtained.

[0080] To control vehicle coasting energy recovery, it is necessary to monitor whether the vehicle meets the requirements for a coasting energy recovery cycle. When the vehicle meets the requirements for a coasting energy recovery cycle, the average coasting deceleration of the vehicle during the previous coasting energy recovery cycle is obtained. The average coasting deceleration of the vehicle during the previous coasting energy recovery cycle is determined by obtaining the initial and final velocities of the vehicle during the previous coasting energy recovery cycle; and determining the average coasting deceleration based on the initial and final velocities and the duration of the vehicle's previous coasting energy recovery cycle.

[0081] Specifically, the average coasting deceleration of the vehicle during the previous coasting energy recovery cycle is determined by the following formula:

[0082] ;

[0083] Among them, a avg represents the average coasting deceleration of the vehicle during the last coasting energy recovery cycle; V0 represents the initial velocity of the vehicle during the last coasting energy recovery cycle; V1 represents the final velocity of the vehicle during the last coasting energy recovery cycle; t0 represents the starting time of the vehicle during the last coasting energy recovery cycle; t1 represents the ending time of the vehicle during the last coasting energy recovery cycle.

[0084] Furthermore, the time difference between the end time and the start time of the vehicle's last coasting energy recovery cycle is the duration of the vehicle's last coasting energy recovery cycle.

[0085] S102: Determine a coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle according to the average coasting deceleration.

[0086] After determining the average coasting deceleration in S101, S102 determines the coasting energy regeneration torque coefficient for the vehicle's current coasting energy regeneration cycle based on the average coasting deceleration. The coasting energy regeneration torque coefficient is a core control parameter used to quantify the relationship between the motor's back-drag torque and the coasting deceleration during coasting or deceleration.

[0087] S103: Determine a target coasting energy recovery torque of the vehicle in a current coasting energy recovery cycle based on the coasting energy recovery torque coefficient.

[0088] The coasting energy recovery torque coefficient determined by S102 is used to determine the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle. This means that the value of the target coasting energy recovery torque is determined by the coasting energy recovery torque coefficient.

[0089] For example, determining the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle based on the coasting energy recovery torque coefficient includes: determining the basic coasting energy recovery torque corresponding to the current vehicle speed based on the corresponding relationship between the vehicle speed and the basic coasting energy recovery torque; and multiplying the coasting energy recovery torque coefficient by the basic coasting energy recovery torque corresponding to the current vehicle speed to obtain the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle.

[0090] In this example, when determining the target coasting energy recovery torque, the corresponding basic coasting energy recovery torque needs to be determined based on the vehicle's current speed, where different vehicle speeds correspond to different basic coasting energy recovery torques. The coasting energy recovery torque coefficient is multiplied by the basic coasting energy recovery torque to obtain the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle. In summary, the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle can be expressed by the following formula:

[0091]

[0092] in, Indicates the target coasting energy recovery torque; Indicates the basic coasting energy recovery torque corresponding to the current vehicle speed; K represents the coasting energy recovery torque coefficient.

[0093] This example modifies the base coasting energy recovery torque corresponding to the current vehicle speed using the coasting energy recovery torque coefficient to dynamically control the target coasting energy recovery torque, ensuring that the target deceleration is maintained for each coasting energy recovery and covering different vehicle weights and slope conditions without adding slope sensors or acceleration sensors.

[0094] S104: Using the target coasting energy recovery torque, control the motor of the vehicle to perform coasting energy recovery in the current coasting energy recovery cycle.

[0095] S104 describes the control strategy for regenerative braking using the motor during the vehicle's coasting energy recovery cycle. Specifically, based on the target coasting energy recovery torque, the motor controller adjusts the motor to operate in power generation mode, converting the vehicle's kinetic energy into electrical energy for storage in the power battery. This process utilizes closed-loop control: by dynamically adjusting the motor's negative torque, energy recovery efficiency is maximized while ensuring smooth coasting deceleration. Its core technology lies in achieving efficient conversion of mechanical energy to electrical energy through precise closed-loop control of motor torque, thereby improving the vehicle's energy utilization and ultimately extending the electric vehicle's range.

[0096] The embodiment of the present application obtains the average coasting deceleration of the vehicle during the previous coasting energy recovery cycle condition in response to monitoring that the vehicle meets the requirements for entering a coasting energy recovery cycle condition, and determines the coasting energy recovery torque coefficient of the vehicle during the current coasting energy recovery cycle condition based on the average coasting deceleration; uses the coasting energy recovery torque coefficient to dynamically control the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle condition, so that the determined target coasting energy recovery torque can cover different vehicle weights and slope conditions without adding sensors, thereby solving the cost increase problem caused by adding sensors; uses the target coasting energy recovery torque to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle condition, thereby improving the vehicle's coasting energy recovery efficiency.

[0097] In some examples, the method described in S102 of determining the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition based on the average coasting deceleration includes: when the average coasting deceleration is less than a speed threshold and the duration of the previous coasting energy recovery cycle condition is greater than a duration threshold, determining the ratio of the average coasting deceleration to the set deceleration corresponding to the vehicle as the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition, wherein the set deceleration is determined based on the performance requirements of the vehicle model corresponding to the vehicle and is calibrated on the actual vehicle to ensure that the driving of the vehicle meets the smoothness requirements; when the average coasting deceleration is greater than or equal to the speed threshold, and / or the duration is less than or equal to the duration threshold, determining the coasting energy recovery torque coefficient of the vehicle in the previous coasting energy recovery cycle condition as the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition.

[0098] In the above example, to determine the coasting energy recovery torque coefficient for the vehicle in the current coasting energy recovery cycle, the average coasting deceleration and duration of the previous coasting energy recovery cycle must be determined. Specifically, the difference between the average coasting deceleration and a speed threshold is determined, and the difference between the duration and a duration threshold is determined. The speed threshold and duration threshold can be set according to actual conditions, for example, the speed threshold can be set to 0 and the duration threshold can be set to 3. If the average coasting deceleration is less than the speed threshold and the duration is greater than the duration threshold, the ratio of the average coasting deceleration to the set deceleration is determined as the coasting energy recovery torque coefficient for the vehicle in the current coasting energy recovery cycle. If the average coasting deceleration is greater than or equal to the speed threshold and / or the duration is less than or equal to the duration threshold, the coasting energy recovery torque coefficient for the vehicle in the previous coasting energy recovery cycle is determined as the coasting energy recovery torque coefficient for the vehicle in the current coasting energy recovery cycle.

[0099] In summary, only when the average coasting deceleration is less than the speed threshold and lasts longer than the duration threshold is the ratio of the average coasting deceleration to the vehicle's corresponding set deceleration determined as the coasting energy recovery torque coefficient for the vehicle's current coasting energy recovery cycle. In all other cases, the coasting energy recovery torque coefficient for the vehicle's current coasting energy recovery cycle is the same as the coasting energy recovery torque coefficient for the vehicle's previous coasting energy recovery cycle.

[0100] The embodiment of the present application can determine a universal coasting energy recovery torque coefficient suitable for different vehicle weights and slope conditions based on the average coasting deceleration of the vehicle in the previous coasting energy recovery cycle without adding sensors. This coefficient can ensure that the coasting energy recovery effect is improved under various load and road conditions.

[0101] Furthermore, in some embodiments, monitoring whether the vehicle meets the requirements for entering the coasting energy recovery cycle includes: when the vehicle is in automatic coasting mode, determining whether the vehicle meets the cycle judgment conditions, the cycle judgment conditions including: the vehicle's parking time is less than or equal to a time threshold, the vehicle's speed is within a preset coasting energy recovery coefficient speed range, and the motor is recovering negative torque; when all the cycle judgment conditions are met, determining that the vehicle meets the requirements for entering the coasting energy recovery cycle; when any one of the cycle judgment conditions is not met, determining that the vehicle does not meet the requirements for entering the coasting energy recovery cycle.

[0102] In this embodiment, it is understood that monitoring whether the vehicle meets the conditions for entering a coasting energy recovery cycle requires ensuring that the vehicle is in automatic coasting mode. In other words, the prerequisite for monitoring whether the vehicle meets the conditions for entering a coasting energy recovery cycle includes detecting that the vehicle is in automatic coasting mode. This is because automatic coasting mode intelligently determines driving conditions and initiates coasting energy recovery at the optimal time, thereby recovering more coasting energy than traditional fixed modes.

[0103] Monitoring whether the vehicle is in automatic gliding mode includes: determining whether the vehicle meets the mode judgment conditions, the mode judgment conditions include: the vehicle is in a high-voltage state, the vehicle's gear is in a forward gear, the vehicle's handbrake is in a released state, the vehicle's brake pedal is not depressed, the vehicle's accelerator pedal is not depressed, the vehicle's motor is in a non-fault state, the vehicle's battery is in a non-fault state, and the vehicle's gliding mode is in automatic mode; when all the mode judgment conditions are met, it is determined that the vehicle is in automatic gliding mode; when any one of the mode judgment conditions is not met, it is determined that the vehicle is not in automatic gliding mode.

[0104] It can be understood that determining whether the vehicle is in automatic coasting mode is to determine whether the vehicle meets the mode determination conditions, wherein the mode determination conditions include the following: the vehicle is in a high-voltage state, the vehicle is in a forward gear, the vehicle's parking brake is released, the vehicle's brake pedal is not depressed, the vehicle's accelerator pedal is not depressed, the vehicle's motor is in a normal state, the vehicle's battery is in a normal state, and the vehicle's coasting mode is in automatic mode. When the vehicle meets all of the mode determination conditions, it is considered to be in automatic coasting mode. When the vehicle does not meet any of the mode determination conditions, it is considered to be not in automatic coasting mode.

[0105] If the vehicle is determined to be in automatic coasting mode, it is necessary to further determine whether the vehicle meets the recurring judgment conditions. These recurring judgment conditions include the vehicle's stopping time being less than or equal to a time threshold, the vehicle's speed being within a preset coasting energy recovery coefficient speed range, and the motor recovering negative torque. The vehicle's stopping time refers to the time the vehicle remains stationary after coming to a complete stop from a remote state. If the vehicle's stopping time is greater than the time threshold, the vehicle is considered to have entered a long-term parked state, and the coasting energy recovery logic does not need to be maintained. If the vehicle's stopping time is less than or equal to the time threshold, the vehicle is considered to be in a stop-and-go state, and the coasting energy recovery preparatory state must be maintained to enable a quick response to determine the coasting energy recovery torque coefficient when the vehicle subsequently starts.

[0106] When the vehicle meets all of the above cycle judgment conditions, it can be determined that the vehicle meets the requirements for entering the coasting energy recovery cycle condition; when the vehicle does not meet any of the above cycle judgment conditions, it can be determined that the vehicle does not meet the requirements for entering the coasting energy recovery cycle condition.

[0107] Furthermore, based on the above embodiment, the vehicle coasting energy recovery control method provided in the embodiment of the present application also includes: if it is monitored that the vehicle is in automatic coasting mode and the vehicle does not meet the requirements for entering the coasting energy recovery cycle condition, determining that the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle condition is 1; and using the target coasting energy recovery torque, controlling the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle condition.

[0108] In this embodiment, it is understood that when the vehicle is detected to be in automatic coasting mode but does not meet the requirements for entering a coasting energy recovery cycle, the target coasting energy recovery torque for the vehicle in the current coasting energy recovery cycle is set to 1. The target coasting energy recovery torque is then used to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle. In other words, when the vehicle is detected to be in automatic coasting mode but does not meet the requirements for entering a coasting energy recovery cycle, a base coasting energy recovery torque corresponding to the vehicle's current speed is determined based on the corresponding relationship between vehicle speed and the base coasting energy recovery torque, and the vehicle's motor is controlled to perform coasting energy recovery in the current coasting energy recovery cycle using the base coasting energy recovery torque.

[0109] Next, an example will be given to illustrate how to use the vehicle coasting energy recovery control method provided in the embodiments of the present application. Figure 2 Schematic diagram of the process of the vehicle coasting energy recovery control method provided in the embodiment of the application Figure 2 .like Figure 2 As shown, the method includes the following steps:

[0110] 1. Determine whether the vehicle meets the requirements for automatic coasting mode.

[0111] Specifically, the system determines whether the vehicle meets the mode determination conditions. If all the mode determination conditions are met, the vehicle is determined to be in automatic coasting mode. If any of the mode determination conditions is not met, the vehicle is determined not to be in automatic coasting mode. The mode determination conditions include the following: the vehicle is in the upper high-pressure state, the vehicle is in a forward gear, the parking brake is released, the driver is not pressing the brake pedal, the accelerator pedal is not pressed, the motor and battery are not faulty, and the coasting mode is automatic.

[0112] 2. If the vehicle is currently in the automatic coasting mode, calculate the coasting energy recovery torque coefficient K of the vehicle in the current coasting energy recovery cycle.

[0113] Figure 3 The following is a flow chart of calculating the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition provided by the embodiment of the present application. Figure 3 As shown, calculating the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle includes the following steps:

[0114] 2.1 Determine whether the vehicle currently meets the prerequisites for calculating the coasting regenerative torque coefficient K. The prerequisites for calculating K include: the vehicle's parking time is less than a time threshold, which can be set to 20 minutes. If the above prerequisites are met, K is calculated; otherwise, K is set to 1.

[0115] 2.2 Determine whether the vehicle currently meets the calculation and update conditions for the coasting recovery torque coefficient K. The update calculation conditions include the following: the vehicle speed meets the coasting recovery coefficient speed range, and the motor is identified as recovering negative torque. Among them, the coasting recovery coefficient speed range is a set calibration value, which can be adaptively calibrated and updated according to the actual vehicle model and vehicle requirements. For example, if the vehicle speed is within 20km / h-80km / h, the statistical range of the coasting recovery torque coefficient K is considered valid. If all of the above conditions are met, the coasting recovery coefficient K is calculated and updated. If the above conditions are met, it is considered to enter the current coasting energy recovery cycle condition. If the above conditions are not met, the current coasting energy recovery cycle condition is exited, and the value of K remains the value obtained in the previous cycle.

[0116] 2.3 If the calculation update conditions of K described in 2.2 are met, determine the average coasting deceleration of the coasting energy recovery cycle. Specifically, record the vehicle speed value V0 when the calculation update conditions are met and start timing t0. When the calculation update conditions of K described in 2.2 are not met, record the vehicle speed value V1 when the calculation update conditions are not met and stop timing t1. According to a avg =(V0-V1) / (3.6×(t1-t0)) Calculate the average coasting deceleration a of this coasting energy recovery cycle avg , where the speed V0, V1 is in km / h, the time t0, t1 is in s, and the deceleration a avg The unit is m / s 2 .

[0117] 2.4 According to the calculated average coasting deceleration a avg , determine the vehicle's coasting energy recovery torque coefficient K in the current coasting energy recovery cycle. K=a avg / a tgt , where a tgt It is a set deceleration determined according to the performance requirements of different vehicle models. This set deceleration is determined based on the performance requirements of the vehicle's corresponding model, and is calibrated through actual vehicles to ensure that the vehicle's driving meets the smoothness requirements.

[0118] Furthermore, it is necessary to calculate the average sliding deceleration a avg And the statistical time difference Δt=(t1-t0) confirms whether the K of this coasting energy recovery cycle is valid. If a avg <0 and Δt>3, the K calculated in 2.4 is used for update; otherwise, the effective K confirmed in the previous coasting energy recovery cycle condition is retained.

[0119] 3. Determine the target coasting energy recovery torque for the vehicle in the current coasting energy recovery cycle based on the determined coasting energy recovery torque coefficient K. Specifically, the target coasting energy recovery torque is determined using the following formula:tgt =(K×Tq base ). Among them, Tq tgt , where Tq base The basic coasting energy recovery torque is a basic coasting energy recovery torque determined by a one-dimensional table lookup according to the vehicle speed.

[0120] 4. Use the target coasting energy recovery torque to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle.

[0121] It should be noted that there are three glide modes: light, heavy, and automatic. The driver can request to switch to glide mode through the instrument panel. If the driver does not operate, it can be considered that the glide mode remains at the last mode request. The loop judgment conditions include the calculation prerequisites of K and the calculation update conditions of K.

[0122] In summary, the embodiments of the present application provide a method for controlling coasting energy recovery torque in automatic mode. By utilizing the average coasting deceleration of the vehicle during the previous coasting energy recovery cycle and a set deceleration ratio coefficient, the target coasting energy recovery torque for the vehicle during the current coasting energy recovery cycle is dynamically controlled. This ensures that coasting is always performed at the target deceleration, and covers coasting energy recovery under conditions of varying vehicle weights and slopes. Furthermore, the recovery control method provided in the embodiments of the present application addresses the cost increase associated with adding sensors through a control process.

[0123] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0124] Figure 4 This is a schematic diagram of the structure of the vehicle coasting energy recovery control device provided in this application, as shown in Figure 4 As shown, the vehicle coasting energy recovery control device 400 provided in this embodiment includes:

[0125] An acquisition module 401 is configured to, in response to monitoring that the vehicle meets the requirements for entering a coasting energy recovery cycle, acquire an average coasting deceleration of the vehicle during a previous coasting energy recovery cycle;

[0126] a determination module 402 for determining a coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle according to the average coasting deceleration; and determining a target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle based on the coasting energy recovery torque coefficient;

[0127] The control module 403 is configured to control the motor of the vehicle to perform coasting energy recovery in the current coasting energy recovery cycle using the target coasting energy recovery torque.

[0128] In a possible implementation, the determining module 402 is specifically configured to:

[0129] When the average coasting deceleration is less than a speed threshold and the duration of the previous coasting energy recovery cycle is greater than a duration threshold, the ratio of the average coasting deceleration to the vehicle's corresponding set deceleration is determined as the vehicle's coasting energy recovery torque coefficient for the current coasting energy recovery cycle. The set deceleration is determined based on the performance requirements of the vehicle model and is calibrated on an actual vehicle to ensure that the vehicle's driving meets smoothness requirements.

[0130] When the average coasting deceleration is greater than or equal to a speed threshold, and / or the duration is less than or equal to a duration threshold, the coasting energy recovery torque coefficient of the vehicle in the previous coasting energy recovery cycle condition is determined as the coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition.

[0131] In a possible implementation, the determining module 402 is specifically configured to:

[0132] Determining a basic coasting energy recovery torque corresponding to the current vehicle speed based on a correspondence between the vehicle speed and the basic coasting energy recovery torque;

[0133] The coasting energy recovery torque coefficient is multiplied by the basic coasting energy recovery torque corresponding to the current vehicle speed to obtain the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle condition.

[0134] In a possible implementation, the determining module 402 is specifically configured to:

[0135] Obtain the initial velocity and final velocity of the vehicle during the previous coasting energy recovery cycle;

[0136] The average coasting deceleration is determined based on the initial velocity, the final velocity, and the duration of the vehicle's last coasting energy recovery cycle.

[0137] In a possible implementation, the vehicle coasting energy recovery control device further includes a processing module (not shown), which is specifically configured to:

[0138] When the vehicle is in the automatic coasting mode, determining whether the vehicle meets a loop judgment condition, the loop judgment condition including: the vehicle's parking time is less than or equal to a time threshold, the vehicle speed is within a preset coasting energy recovery coefficient speed range, and the motor is recovering negative torque;

[0139] When all cycle judgment conditions are met, it is determined that the vehicle meets the requirements for entering the coasting energy recovery cycle;

[0140] When any one of the cycle judgment conditions is not met, it is determined that the vehicle does not meet the requirements for entering the coasting energy recovery cycle condition.

[0141] In a possible implementation, the processing module is further configured to: detect that the vehicle is in an automatic coasting mode.

[0142] In a possible implementation, the determining module 402 is further configured to:

[0143] If it is detected that the vehicle is in the automatic coasting mode and the vehicle does not meet the requirements for entering the coasting energy recovery cycle operating condition, the target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle operating condition is determined to be 1;

[0144] The target coasting energy recovery torque is used to control the vehicle's motor to perform coasting energy recovery in the current coasting energy recovery cycle condition.

[0145] In a possible implementation, the processing module is specifically configured to:

[0146] determining whether the vehicle meets a mode determination condition, the mode determination condition including: the vehicle is in a high-voltage state, the vehicle is in a forward gear, the vehicle's parking brake is released, the vehicle's brake pedal is not depressed, the vehicle's accelerator pedal is not depressed, the vehicle's motor is in a non-faulty state, the vehicle's battery is in a non-faulty state, and the vehicle's coasting mode is in an automatic mode;

[0147] When all mode judgment conditions are met, determining that the vehicle is in automatic coasting mode;

[0148] When any one of the mode determination conditions is not satisfied, it is determined that the vehicle is not in the automatic coasting mode.

[0149] The vehicle coasting energy recovery control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0150] It should be noted that it should be understood that the division of the various modules of the above device is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. Moreover, these modules can all be implemented in the form of software called by a processing element; or they can all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the processing module can be a separately established processing element, or it can be integrated into a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called by a processing element of the above device to perform the functions of the above processing module. The implementation of other modules is similar. In addition, these modules can all or partly be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit in the processor element or by instructions in the form of software.

[0151] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0152] Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. Figure 5 As shown, the electronic device 500 provided in the embodiment of the present application may include: a processor 501, and a memory 502 communicatively connected to the processor, wherein:

[0153] Memory stores computer-executable instructions;

[0154] The processor executes the computer-executable instructions stored in the memory to implement the method described in the foregoing method embodiment.

[0155] It should be understood that the processor 501 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly implemented as being executed by a hardware processor, or can be implemented by a combination of hardware and software modules in the processor. The memory 502 may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and can also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0156] Optionally, the electronic device 500 may further include a communication interface 503. In a specific implementation, if the communication interface 503, memory 502, and processor 501 are implemented independently, the communication interface 503, memory 502, and processor 501 may be interconnected via a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, control buses, and so on, but this does not necessarily mean that there is only one bus or only one type of bus.

[0157] Optionally, in a specific implementation, if the communication interface 503, the memory 502 and the processor 501 are integrated on a chip, the communication interface 503, the memory 502 and the processor 501 can complete communication through an internal interface.

[0158] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the method described in any of the aforementioned embodiments.

[0159] It is understood that 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 read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0160] An exemplary computer-readable storage medium is coupled to a processor, such that the processor can read information from and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be an integral part of the processor. The processor and the computer-readable storage medium can reside in an ASIC. Of course, the processor and the computer-readable storage medium can also reside as discrete components in an electronic device.

[0161] The above-mentioned integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above-mentioned software functional modules stored in a computer-readable storage medium include a number of instructions for causing an electronic device (which can be a personal computer, server, or network device, etc.) or a processor to perform some of the steps of the methods described in various embodiments of the present application.

[0162] An embodiment of the present application also provides a computer program product, including a computer program, which implements the method described in any of the aforementioned embodiments when executed.

[0163] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0164] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0165] In the above embodiments, the description of each embodiment has its own focus. For parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0167] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for controlling the recovery of vehicle coasting energy, characterized in that: include: In response to monitoring that the vehicle meets the requirements for entering a coasting energy recovery cycle operating condition, obtaining an average coasting deceleration of the vehicle during a previous coasting energy recovery cycle operating condition; determining a coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle according to the average coasting deceleration; determining a target coasting energy recovery torque of the vehicle in a current coasting energy recovery cycle based on the coasting energy recovery torque coefficient; The target coasting energy recovery torque is used to control the motor of the vehicle to perform coasting energy recovery in the current coasting energy recovery cycle.

2. The recycling control method according to claim 1, characterized in that: Determining a coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle according to the average coasting deceleration includes: When the average coasting deceleration is less than a speed threshold and the duration of the previous coasting energy recovery cycle condition is greater than a duration threshold, a ratio of the average coasting deceleration to a set deceleration corresponding to the vehicle is determined as a coasting energy recovery torque coefficient of the vehicle in the current coasting energy recovery cycle condition, wherein the set deceleration is determined based on performance requirements of the vehicle model and is calibrated on an actual vehicle to ensure that the vehicle's driving meets smoothness requirements; When the average coasting deceleration is greater than or equal to a speed threshold, and / or the duration is less than or equal to a duration threshold, a coasting energy recovery torque coefficient of the vehicle in a previous coasting energy recovery cycle operating condition is determined as the coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle operating condition.

3. The recycling control method according to claim 1 or 2, characterized in that: The determining, based on the coasting energy recovery torque coefficient, a target coasting energy recovery torque of the vehicle in a current coasting energy recovery cycle operating condition includes: determining a basic coasting energy recovery torque corresponding to a current vehicle speed based on a correspondence between the vehicle speed and the basic coasting energy recovery torque; The coasting energy recovery torque coefficient is multiplied by the basic coasting energy recovery torque corresponding to the current vehicle speed to obtain a target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle condition.

4. The recycling control method according to claim 1 or 2, characterized in that: The average coasting deceleration is determined as follows: Obtaining an initial velocity and a final velocity of the vehicle during a previous coasting energy recovery cycle; The average coasting deceleration is determined according to the initial velocity, the final velocity, and a duration of the vehicle in a previous coasting energy recovery cycle.

5. The recycling control method according to claim 1 or 2, characterized in that: Monitor whether the vehicle meets the requirements for entering the coasting energy recovery cycle, including: When the vehicle is in the automatic coasting mode, determining whether the vehicle satisfies a loop judgment condition, the loop judgment condition comprising: a parking time of the vehicle is less than or equal to a time threshold, a speed of the vehicle is within a preset coasting energy recovery coefficient speed range, and the motor is recovering negative torque; When all the cycle judgment conditions are met, determining that the vehicle meets the requirements for entering a coasting energy recovery cycle operating condition; When any one of the cycle judgment conditions is not met, it is determined that the vehicle does not meet the requirements for entering the coasting energy recovery cycle condition.

6. The recycling control method according to claim 5, characterized in that: Monitoring whether the vehicle meets the prerequisites for entering a coasting energy recovery cycle operating condition includes: monitoring that the vehicle is in an automatic coasting mode.

7. The recycling control method according to claim 6, characterized in that: Also includes: If it is detected that the vehicle is in the automatic coasting mode and the vehicle does not meet the requirements for entering the coasting energy recovery cycle operating condition, determining a target coasting energy recovery torque of the vehicle in the current coasting energy recovery cycle operating condition to be 1; The target coasting energy recovery torque is used to control the motor of the vehicle to perform coasting energy recovery in the current coasting energy recovery cycle.

8. The recycling control method according to claim 6, characterized in that: Monitoring whether the vehicle is in an automatic glide mode, including: determining whether the vehicle satisfies a mode determination condition, the mode determination condition comprising: the vehicle is in a high-voltage state, the vehicle is in a forward gear, the vehicle's parking brake is released, the vehicle's brake pedal is not depressed, the vehicle's accelerator pedal is not depressed, the vehicle's motor is in a non-fault state, the vehicle's battery is in a non-fault state, and the vehicle's coasting mode is in an automatic mode; When all the mode determination conditions are met, determining that the vehicle is in the automatic coasting mode; When any one of the mode determination conditions is not satisfied, it is determined that the vehicle is not in the automatic coasting mode.

9. A vehicle coasting energy recovery control device, characterized in that: include: an acquisition module, configured to, in response to monitoring that the vehicle meets the requirements for entering a coasting energy recovery cycle, acquire an average coasting deceleration of the vehicle during a previous coasting energy recovery cycle; a determination module, configured to determine a coasting energy recovery torque coefficient of the vehicle in a current coasting energy recovery cycle according to the average coasting deceleration; and, determining a target coasting energy recovery torque of the vehicle in a current coasting energy recovery cycle based on the coasting energy recovery torque coefficient; A control module is configured to control the motor of the vehicle to perform coasting energy recovery in a current coasting energy recovery cycle condition using the target coasting energy recovery torque.

10. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 8 when the computer program is executed.

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