Electric vehicle energy recovery control method, device, equipment and medium

Abstract

The invention relates to an electric vehicle energy recovery control method, device and equipment and a medium, and belongs to the technical field of vehicle control. The recovery control method comprises the steps that if a vehicle is in a braking working condition, an actual oil pressure value received by an ABS is compared with a set oil pressure value, and whether a negative torque signal is output or not is judged according to a comparison result; if the received actual oil pressure value is not higher than the set oil pressure value, the negative torque signal is not output; if the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller according to the actual oil pressure value, the driving motor is controlled to rotate reversely, and energy recovery is achieved. By monitoring the oil pressure value of the braking system and dynamically adjusting the energy recovery intensity, the problem that in the prior art, the energy recovery intensity cannot be matched with the braking intention of a driver is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to an electric vehicle energy recovery control method, device, equipment and medium. BACKGROUND

[0002] As a core part of electric vehicle design, the energy recovery system is widely used to improve the driving range of the vehicle. By efficiently converting kinetic energy into electrical energy during deceleration, the driving distance of a single charge is effectively extended, and the user's dependence on charging infrastructure is reduced.

[0003] Currently, there are two main modes for electric vehicle energy recovery control: fixed intensity mode and single pedal mode. The fixed intensity mode is based on a fixed intensity curve preset by the manufacturer for energy recovery. This curve usually relies on statistical analysis of a large amount of vehicle driving state data and repeated calibration, resulting in a complex, time-consuming and costly calibration process. At the same time, in emergency braking or sudden road conditions (such as avoiding obstacles or emergency lane changes), the system cannot dynamically adjust the recovery intensity according to the actual driving demand, resulting in delayed or inconsistent braking response, significantly weakening the safety performance of the vehicle.

[0004] The single pedal mode controls the energy recovery intensity through the reverse stroke of the accelerator pedal (i.e. when the accelerator is released). Although it performs well in terms of energy recovery efficiency and driving convenience, its control logic fundamentally conflicts with the traditional driving habits formed by drivers over a long period of time - for example, drivers are accustomed to achieving precise deceleration through an independent brake pedal, while in the single pedal mode, releasing the accelerator triggers strong recovery, which can easily cause the vehicle to decelerate unexpectedly in non-expected scenarios (such as slow driving or following a car), not only causing significant discomfort and fatigue accumulation for the driver and passengers, but also potentially causing rear-end accidents on high-speed or congested roads, significantly increasing the risk of driving safety.

[0005] Therefore, the existing technology still has deficiencies in balancing energy recovery, driving habit adaptability and driving safety. SUMMARY

[0006] The present application provides an electric vehicle energy recovery control method, device, equipment and medium, which can solve the problem that the energy recovery intensity of the electric vehicle in the prior art cannot match the driver's intention, i.e. the energy recovery intensity cannot be adaptively adjusted, resulting in poor driving experience.

[0007] In a first aspect, the embodiments of the present application provide an electric vehicle energy recovery control method, comprising: If the vehicle is in a braking condition, comparing the actual oil pressure value received by the ABS with the set oil pressure value, and determining whether to output a negative torque signal according to the comparison result; If the received actual oil pressure value is not higher than the set oil pressure value, no negative torque signal is outputted. If the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is outputted to the motor controller according to the actual oil pressure value, the driving motor is controlled to rotate reversely, and energy recovery is realized.

[0008] In some embodiments, if the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is outputted to the motor controller according to the actual oil pressure value, the driving motor is controlled to rotate reversely, and energy recovery is realized, specifically including: If the received actual oil pressure value is higher than the set oil pressure value, the actual vehicle speed is compared with the set vehicle speed, and according to the comparison result, an original negative torque signal or a set negative torque signal is outputted.

[0009] In some embodiments, if the actual vehicle speed is less than the set vehicle speed, a set negative torque signal is outputted to the motor controller, the driving motor is controlled to rotate reversely, and energy recovery is realized; the set negative torque signal is set based on a set smooth curve associated with the oil pressure value. If the actual vehicle speed is not less than the set vehicle speed, an original negative torque signal is outputted to the motor controller, the driving motor is controlled to rotate reversely, and energy recovery is realized.

[0010] In some embodiments, if the actual vehicle speed is zero, no negative torque signal is outputted, and no energy recovery is implemented.

[0011] In some embodiments, the set oil pressure value is 0.8 MPa, and the set vehicle speed is 10 km / h.

[0012] In some embodiments, if the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is outputted to the motor controller according to the actual oil pressure value, the driving motor is controlled to rotate reversely, and energy recovery is realized, specifically including: If the received actual oil pressure value is higher than the set oil pressure value, a deceleration value is calculated according to the vehicle speed, and according to the received actual oil pressure value and the deceleration value, the point drop method is adopted to implement energy recovery according to the energy recovery intensity curve corresponding to the drop point until the value is reduced to zero.

[0013] In a second aspect, the embodiments of the present application provide an energy recovery control device for an electric vehicle, including An oil pressure value judgment module is configured to compare the actual oil pressure value received by the ABS with the set oil pressure value. A vehicle speed judgment module is configured to compare the actual vehicle speed with the set vehicle speed. A signal generation module is configured to generate a negative torque signal according to the oil pressure value comparison result and the vehicle speed comparison result. A control driving module is configured to control the driving motor to rotate reversely according to the generated negative torque signal, and realize energy recovery.

[0014] In some embodiments, the oil pressure judgment module includes a vehicle power controller and a brake master cylinder connected to the vehicle power controller and ABS. The vehicle power controller is configured to compare the actual oil pressure value transmitted from the brake master cylinder to the ABS with a set oil pressure value, and transmit the comparison result to the signal generation module. The vehicle speed determination module includes a vehicle power controller and a vehicle speed sensor connected to the vehicle power controller. The vehicle power controller is configured to compare the actual vehicle speed fed back by the vehicle speed sensor with the target vehicle speed and transmit the comparison result to the signal generation module.

[0015] Thirdly, embodiments of this application provide a computer device, the computer device including a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute any of the methods described above according to the instructions in the program code.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium for storing a computer program for performing the methods described in any of the preceding claims.

[0017] The beneficial effects of the technical solutions provided in this application include: This application provides an electric vehicle energy recovery control method, device, equipment, and medium. The recovery control method includes: if the vehicle is in braking condition, comparing the actual oil pressure value received by the ABS with the set oil pressure value, and determining whether to output a negative torque signal based on the comparison result; If the received actual oil pressure value is not higher than the set oil pressure value, no negative torque signal will be output; If the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller based on the actual oil pressure value to control the drive motor to rotate in the opposite direction, thereby realizing energy recovery.

[0018] In practical applications, this application effectively solves the problem in existing technologies where the energy recovery intensity cannot match the driver's braking intention by monitoring the brake system oil pressure and dynamically adjusting the energy recovery intensity. Specifically, under vehicle braking conditions, the system precisely controls the output of the negative torque signal based on the dynamic comparison between the actual oil pressure value obtained by the ABS and the set oil pressure value: when the actual oil pressure value is lower than the set oil pressure value (such as when the driver lightly presses the brake pedal), the system does not output a negative torque signal to avoid energy recovery intervention; this mechanism ensures that energy recovery is only activated when the driver applies sufficient braking force (such as medium to high intensity braking), while in light braking scenarios (such as slow urban driving, following other vehicles, or fine-tuning the vehicle speed), the system keeps energy recovery off, thereby avoiding the unexpected rapid deceleration phenomenon caused by releasing the accelerator in single-pedal mode, which triggers strong recovery.

[0019] When the actual oil pressure exceeds the set oil pressure (e.g., when the driver presses the brake pedal hard), the system outputs a negative torque signal proportional to the oil pressure, ensuring that the energy recovery intensity matches the brake pedal pressure. This mechanism eliminates the inherent defect of strong regenerative braking triggered immediately upon releasing the accelerator in single-pedal mode. It ensures that in everyday driving scenarios such as slow driving, following other vehicles, or urban congestion, energy recovery only activates when the driver actively applies braking pressure, and the recovery intensity changes smoothly with braking force, completely avoiding unexpected sudden deceleration. This significantly improves driving comfort, alleviates fatigue accumulation caused by frequent sudden deceleration, and effectively eliminates the problem of inconsistent braking caused by sudden changes in energy recovery at low speeds, greatly reducing the risk of rear-end collisions due to mismatched braking response. In summary, this application achieves an organic unity of energy recovery efficiency, driving habit adaptability, and driving safety. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the method flow provided in the embodiments of this application; Figure 2 This is a schematic diagram of the overall device provided in the embodiments of this application.

[0022] In the picture: 1. Brake pedal; 2. Master cylinder; 3. Power battery; 4. Vehicle power controller; 5. ABS; 6. Vehicle speed sensor; 7. Brake wheel cylinder; 8. Motor controller; 9. Drive motor; 10. Brake lines. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.

[0024] This application provides an electric vehicle energy recovery control method, device, equipment, and medium, which can solve the problem in the prior art that the energy recovery intensity of electric vehicles cannot match the driver's intention, that is, it cannot achieve adaptive adjustment of the energy recovery intensity, resulting in a poor driving experience.

[0025] See Figure 1 As shown, in a first aspect, embodiments of this application provide an energy recovery control method for electric vehicles, comprising: S1. If the vehicle is in braking condition, compare the actual oil pressure value received by ABS5 with the set oil pressure value, and determine whether to output a negative torque signal based on the comparison result. S2. If the received actual oil pressure value is not higher than the set oil pressure value, no negative torque signal will be output. If the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller 8 based on the actual oil pressure value, which controls the drive motor 9 to rotate in reverse to achieve energy recovery.

[0026] In practical applications, this application effectively solves the problem in existing technologies where the energy recovery intensity cannot match the driver's braking intention by monitoring the brake system oil pressure and dynamically adjusting the energy recovery intensity. Specifically, under vehicle braking conditions, the system precisely controls the output of the negative torque signal based on the dynamic comparison between the actual oil pressure value obtained by ABS5 and the set oil pressure value: when the actual oil pressure value is lower than the set oil pressure value (such as when the driver lightly presses the brake pedal 1), the system does not output a negative torque signal to avoid energy recovery intervention; this mechanism ensures that energy recovery is only activated when the driver applies sufficient braking force (such as medium to high intensity braking), while in light braking scenarios (such as slow driving in the city, following other vehicles, or fine-tuning the vehicle speed), the system keeps energy recovery in a closed state, thereby avoiding the unexpected rapid deceleration phenomenon caused by releasing the accelerator in single-pedal mode and triggering strong recovery.

[0027] When the actual oil pressure value is higher than the set oil pressure value (such as when the driver presses the brake pedal 1 hard), the system outputs a negative torque signal proportional to the oil pressure value, making the energy recovery intensity consistent with the braking force applied to the brake pedal 1. This mechanism eliminates the inherent defect of strong recovery being triggered immediately upon releasing the accelerator in single-pedal mode, ensuring that energy recovery is only activated when the driver actively applies braking pressure in everyday driving scenarios such as slow driving, following other vehicles, or urban congestion. Furthermore, the recovery intensity changes smoothly with the braking force, completely avoiding unexpected sudden deceleration. This significantly improves driving comfort, alleviates fatigue accumulation caused by frequent sudden deceleration, and effectively eliminates the problem of inconsistent braking caused by sudden changes in energy recovery at low speeds, greatly reducing the risk of rear-end collisions caused by mismatched braking response. In summary, this application achieves an organic unity of energy recovery efficiency, driving habit adaptability, and driving safety.

[0028] In the regenerative braking control system, when the actual brake fluid pressure (the pressure signal of the brake line 10 monitored in real time by the ABS5 sensor) exceeds a preset threshold (e.g., 0.8 MPa), the system adopts a linear proportional control strategy, using a dynamic mapping mechanism to adaptively adjust the energy recovery intensity. Specifically, the system uses the difference between the actual fluid pressure and the set fluid pressure threshold as an input parameter, and generates a negative torque control signal based on a preset proportional coefficient. This mechanism ensures a physical continuity between the energy recovery intensity (i.e., the reverse torque power generated by the motor) and the driver's brake pedal pressure (corresponding to the brake fluid pressure change rate). Under heavy braking conditions (such as emergency avoidance or high-speed deceleration), the higher the fluid pressure, the larger the negative torque signal output value, and the energy recovery power increases synchronously, thus accurately replicating the driver's braking intention—the greater the pedal pressure, the higher the energy recovery intensity, forming a closed-loop control. Figure 1 Consistency. This technology effectively eliminates the unexpected response of strong regenerative braking triggered when releasing the accelerator in one-pedal mode, while avoiding the calibration complexity of fixed intensity mode, achieving synchronization between braking response and driving intention, thus improving driving comfort and braking safety.

[0029] In some optional embodiments, if the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller 8 based on the actual oil pressure value, controlling the drive motor 9 to rotate in the reverse direction to achieve energy recovery, specifically including: If the received actual oil pressure value is higher than the set oil pressure value, compare the actual vehicle speed with the set vehicle speed, and based on the comparison result, determine whether to output the original negative torque signal or the set negative torque signal.

[0030] In some alternative embodiments, if the actual vehicle speed is less than the set vehicle speed, a set negative torque signal is output to the motor controller 8 to control the drive motor 9 to rotate in the opposite direction, thereby realizing energy recovery; the set negative torque signal is based on a set smooth curve associated with the oil pressure value; if the actual vehicle speed is not less than the set vehicle speed, the original negative torque signal is output to the motor controller 8 to control the drive motor 9 to rotate in the opposite direction, thereby realizing energy recovery.

[0031] In some applications, when the actual hydraulic pressure is higher than the set hydraulic pressure, the system dynamically determines whether to output the original negative torque signal or the set negative torque signal by comparing the actual vehicle speed with the set vehicle speed. This achieves precise adaptive adjustment of the energy recovery intensity under different vehicle speed conditions, effectively solving the problem of inconsistent braking caused by the inability of the energy recovery intensity to dynamically match the vehicle speed in existing technologies. Specifically, this mechanism ensures that in high-speed conditions (actual vehicle speed not less than the set vehicle speed), the original negative torque signal proportional to the hydraulic pressure is directly used to maintain the consistency between energy recovery efficiency and the driver's braking intention; while in low-speed conditions (actual vehicle speed less than the set vehicle speed), a smooth curve based on the hydraulic pressure correlation is used to set the negative torque signal, so that the energy recovery intensity gradually decreases as the vehicle speed decreases. This completely eliminates the vehicle jerking and braking discontinuity caused by sudden changes in recovery intensity at low speeds in traditional methods, improving driving comfort and safety in frequent start-stop scenarios in congested traffic.

[0032] When the actual vehicle speed is less than the set speed, the system outputs a set negative torque signal based on a smooth curve associated with the hydraulic pressure value. This signal controls the drive motor 9 to rotate in the opposite direction to achieve energy recovery. The technical effect lies in the smooth transition curve that gradually changes the energy recovery intensity from a high value to zero, optimizing the driving safety risks caused by sudden changes in energy recovery intensity at low speeds in existing technologies. This design ensures that the energy recovery intensity changes continuously and smoothly with the brake hydraulic pressure in scenarios such as slow driving, following other vehicles, or low-speed avoidance. It avoids the unexpected sudden deceleration phenomenon where releasing the accelerator in single-pedal mode triggers strong recovery, significantly alleviating discomfort and fatigue accumulation caused by frequent braking abrupt changes for passengers. It also reduces the probability of rear-end collisions caused by mismatched low-speed braking response, improving the adaptability of energy recovery efficiency to driving habits.

[0033] The negative torque signal is set based on a smooth curve associated with the hydraulic pressure value. Under low-speed conditions (actual vehicle speed below a preset threshold, such as 10 km / h), the system uses a predefined continuously differentiable function curve (usually a quadratic polynomial or spline interpolation curve) as a mapping reference to dynamically map the real-time monitored brake hydraulic pressure value to the corresponding negative torque signal output value. This smooth curve establishes a non-linear functional relationship between the hydraulic pressure value and the negative torque signal intensity, ensuring that as the hydraulic pressure value gradually changes from the set threshold (such as 0.8 MPa) to zero, the negative torque signal value decays to zero continuously and without abrupt changes. This smooth transition mechanism based on function mapping effectively avoids the abrupt change in energy recovery intensity caused by discrete threshold switching in traditional control, achieving physical continuity between braking intensity and energy recovery intensity (i.e., geometric continuity between the energy recovery power curve and the brake hydraulic pressure change trajectory). This eliminates vehicle jerking under low-speed conditions (such as frequent stop-and-go traffic in congested urban areas), ensuring smooth braking and driving comfort.

[0034] In some alternative embodiments, if the actual vehicle speed is zero, no negative torque signal is output and no energy recovery is implemented.

[0035] When the actual vehicle speed is zero, the system does not output a negative torque signal and completely stops energy recovery. This solves the problem of vehicle dragging or braking system interference caused by energy recovery intervention when the vehicle is parked, ensuring driving safety and driving experience. This mechanism ensures that there is no energy recovery action when the vehicle is close to a complete stop, avoiding the slight bumps or reverse drag of the motor caused by the recovery intensity not returning to zero in time when parking, which is common in traditional methods. This provides the driver with a seamless parking operation experience and seamlessly integrates with the braking system, eliminating energy waste and potential safety hazards in parking scenarios. It ensures that energy recovery control remains highly consistent with the driver's intentions under all operating conditions.

[0036] In some alternative embodiments, the oil pressure is set to 0.8 MPa and the vehicle speed is set to 10 km / h.

[0037] In an optional embodiment where the oil pressure is set to 0.8 MPa and the vehicle speed is set to 10 km / h, the system achieves adaptive adjustment of the energy recovery intensity through precise threshold control, solving the problem of energy recovery being disconnected from driver intent in existing technologies. The 0.8 MPa oil pressure threshold ensures that the system only activates energy recovery when the driver performs medium-to-high intensity braking (such as emergency avoidance or rapid deceleration), while completely avoiding recovery intervention in scenarios where the brake pedal is lightly pressed (oil pressure below 0.8 MPa), thus completely eliminating the unexpected rapid deceleration phenomenon caused by strong recovery being triggered when the accelerator is released in single-pedal mode.

[0038] Meanwhile, the 10km / h speed threshold enables the system to automatically activate a smooth curve based on oil pressure values ​​in low-speed conditions (vehicle speed <10km / h), gradually reducing the energy recovery intensity to zero. This avoids the vehicle jerking and inconsistent braking issues caused by sudden changes in recovery intensity during frequent starts and stops in congested urban areas. This design not only precisely matches the energy recovery intensity with the driver's actual braking force, alleviating discomfort and fatigue for passengers, but also reduces the risk of rear-end collisions due to delayed braking response through a smooth transition in low-speed conditions. It achieves an organic balance between energy recovery efficiency, driving habit compatibility, and driving safety, providing a more natural and safer driving experience, especially in low-speed scenarios during daily commutes.

[0039] In some optional embodiments, if the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller 8 based on the actual oil pressure value, controlling the drive motor 9 to rotate in the reverse direction to achieve energy recovery, specifically including: If the received actual oil pressure value is higher than the set oil pressure value, the deceleration value is calculated based on the vehicle speed. Then, based on the received actual oil pressure value and deceleration value, the landing point method is used to implement energy recovery according to the energy recovery intensity curve corresponding to the landing point until it is reduced to zero.

[0040] When the actual oil pressure value is higher than the set oil pressure value, the system calculates the deceleration value corresponding to the vehicle speed in real time, and maps the actual oil pressure value and deceleration value to the preset energy recovery intensity curve using the landing point method, so as to achieve continuous and smooth adjustment of the energy recovery intensity until it returns to zero. Its technical effect is to accurately solve the problems of energy recovery intensity being out of sync with the driver's braking intention and sudden changes in recovery under low-speed conditions in the existing technology.

[0041] Specifically, this mechanism dynamically correlates brake fluid pressure with vehicle deceleration using the point-of-application method, enabling the energy recovery intensity to adaptively adjust with the driver's pedal force (fluid pressure value) and vehicle speed changes (deceleration value): at high or medium speeds, the recovery intensity increases proportionally to the braking force, ensuring that the braking response is consistent with the driver's intention in real time; during low-speed transitions (such as when the vehicle speed decreases), the system gradually decays the recovery intensity according to the energy recovery intensity curve, completely avoiding the vehicle jerking and inconsistent braking caused by sudden changes in recovery intensity in traditional methods.

[0042] In the regenerative braking control system, when the actual brake fluid pressure exceeds a preset threshold (e.g., 0.8 MPa), the system activates an adaptive adjustment mechanism based on dynamic input mapping. Specifically, the system acquires the vehicle's instantaneous speed in real time through the vehicle speed sensor 6 and calculates the deceleration value, forming a two-dimensional input space. Subsequently, using the point-of-sight method, the input vector (point coordinates) is mapped to a preset energy recovery intensity curve, which is a two-dimensional nonlinear function. The point-of-sight method uses interpolation algorithms (such as bilinear interpolation or spline interpolation) to accurately extract the output value of the corresponding point from a predefined lookup table, ensuring that the energy recovery intensity remains continuous as the input variable changes, avoiding abrupt changes caused by discrete threshold switching. Finally, the system outputs a progressive negative torque signal to the motor controller 8, driving the motor 9 to rotate in the opposite direction to achieve energy recovery. As the vehicle speed approaches zero, the energy recovery intensity smoothly decays to zero along the preset curve, thus maintaining physical continuity throughout the braking process, eliminating the vehicle jerking sensation caused by sudden changes in recovery intensity at low speeds, and improving the driving experience.

[0043] This design not only eliminates the risk of unexpected rapid deceleration caused by releasing the accelerator in single-pedal mode, significantly alleviating discomfort and fatigue accumulation for drivers and passengers in slow driving or following other vehicles, but also greatly reduces the probability of rear-end collisions caused by delayed braking response when frequently starting and stopping in congested urban areas through a smooth intensity transition. It achieves an organic unity of energy recovery efficiency, driving habit compatibility and driving safety, providing electric vehicles with a more natural and safer driving experience in complex driving scenarios.

[0044] Secondly, embodiments of this application provide an electric vehicle energy recovery control device, including... The oil pressure value judgment module is used to compare the actual oil pressure value received by ABS5 with the set oil pressure value; The vehicle speed determination module is used to compare the actual vehicle speed with the set vehicle speed; The signal generation module is used to generate a negative torque signal based on the comparison results of oil pressure and vehicle speed. The control drive module is used to control the drive motor 9 to rotate in the opposite direction based on the generated negative torque signal, so as to realize energy recovery.

[0045] The electric vehicle energy recovery control device of this application achieves precise adaptive control of energy recovery intensity through the coordinated work of the oil pressure value judgment module, vehicle speed judgment module, signal generation module and control drive module, effectively solving the problem of poor driving experience and driving safety risks caused by the disconnect between energy recovery intensity and driver braking intention in the prior art.

[0046] Specifically, the oil pressure judgment module monitors the actual oil pressure value received by ABS5 in real time and dynamically compares it with a set threshold (such as 0.8MPa) to ensure that energy recovery is triggered only when the driver performs medium to high intensity braking (such as emergency avoidance or rapid deceleration), avoiding unexpected intervention of energy recovery in scenarios such as lightly pressing the brake pedal 1; when the vehicle speed judgment module detects that the actual vehicle speed is lower than the set threshold (such as 10km / h), it automatically activates the smooth transition mechanism and generates a progressive negative torque signal in conjunction with the oil pressure value; the signal generation module outputs a negative torque signal that matches the braking intention based on the dual judgment of oil pressure value and vehicle speed (such as using the original proportional signal in high-speed conditions and the set signal of the associated smooth curve in low-speed conditions); the control drive module then precisely executes this signal and controls the drive motor 9 to rotate in the opposite direction to achieve energy recovery.

[0047] In practice, the total mass of a vehicle can be determined using existing vehicle parts, and the energy recovery intensity can be adjusted according to the total mass of the vehicle to meet braking safety requirements under different loads.

[0048] This technical solution eliminates the inherent defect of strong regenerative braking triggered immediately upon releasing the accelerator in single-pedal mode. It ensures that the energy recovery intensity is completely consistent with the driver's pedal pressure in everyday scenarios such as slow driving, following other vehicles, or urban congestion, significantly alleviating driving discomfort and fatigue caused by frequent sudden deceleration. Simultaneously, the smooth intensity decay at low speeds effectively avoids braking inconsistencies caused by sudden regenerative braking changes, greatly reducing the probability of rear-end collisions. This achieves an organic balance between energy recovery efficiency, driving habit compatibility, and driving safety, providing electric vehicles with a more natural and safer driving experience in complex road conditions.

[0049] In some optional embodiments, the oil pressure determination module includes a vehicle power controller 4 and a brake master cylinder 2 connected to the vehicle power controller 4 and the ABS 5. The vehicle power controller 4 is configured to compare the actual oil pressure value transmitted to the ABS 5 by the brake master cylinder 2 with the set oil pressure value, and transmit the comparison result to the signal generation module. The vehicle speed determination module includes a vehicle power controller 4 and a vehicle speed sensor 6 connected to the vehicle power controller 4. The vehicle power controller 4 is configured to compare the actual vehicle speed fed back by the vehicle speed sensor 6 with the target vehicle speed and transmit the comparison result to the signal generation module.

[0050] The following is a description of the components of the device in this application, such as... Figure 2As shown, in this application, the brake pedal 1 is connected to the master cylinder 2, and the ABS 5, brake slave cylinders 7, and master cylinder 2 are connected through brake lines 10 to form a braking system. A vehicle power controller 4, a vehicle speed sensor 6, and a motor controller 8 are also provided. The signal input terminal of the vehicle power controller 4 is connected to the signal output terminal of the ABS 5, the signal output terminal of the vehicle speed sensor 6 is connected to the signal input terminal of the vehicle power controller 4, and the input terminal of the motor controller 8 is connected to the signal output terminal of the vehicle power controller 4. A power battery 3 and a drive motor 9 are also included. The power battery 3 is connected to the drive motor 9, and the output terminal of the motor controller 8 is connected to the signal input terminal of the drive motor 9.

[0051] When the vehicle brakes, the vehicle power controller 4 determines whether the actual oil pressure value received from the ABS5 is higher than the set oil pressure value. If it is higher than the set oil pressure value, the vehicle power controller 4 outputs a negative torque signal to the motor controller 8 based on the actual oil pressure value, controls the drive motor 9 to rotate in reverse, and outputs current to the power battery 3 to realize energy recovery. If it is not higher than the set oil pressure value, the vehicle power controller 4 does not output a negative torque signal.

[0052] When the vehicle power controller 4 detects that the vehicle speed from the vehicle speed sensor 6 is less than the set vehicle speed, it reduces the energy recovery value to zero according to the set smooth curve associated with the oil pressure value.

[0053] When the vehicle power controller 4 detects that the vehicle speed from the vehicle speed sensor 6 is zero, it does not generate negative torque and does not implement energy recovery.

[0054] The vehicle power controller 4 determines whether the actual oil pressure value received from the ABS 5 is higher than the set oil pressure value. If it is higher than the set oil pressure value, the vehicle power controller 4 collects the vehicle speed from the vehicle speed sensor 6 and automatically calculates the deceleration value. The vehicle power controller 4 uses the landing point method to implement energy recovery according to the energy recovery intensity curve corresponding to the landing point of the oil pressure value and deceleration value until it is reduced to zero.

[0055] Thirdly, embodiments of this application provide a computer device, which includes a processor and a memory: The memory is used to store program code and transfer the program code to the processor; The processor is used to execute any of the above methods according to instructions in the program code.

[0056] Fourthly, embodiments of this application provide a computer-readable storage medium for storing a computer program for performing any of the methods described above.

[0057] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0058] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0059] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for controlling energy recovery in electric vehicles, characterized in that, include: If the vehicle is in braking condition, compare the actual oil pressure value received by ABS (5) with the set oil pressure value, and determine whether to output a negative torque signal based on the comparison result; If the received actual oil pressure value is not higher than the set oil pressure value, no negative torque signal will be output; If the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller (8) according to the actual oil pressure value, and the drive motor (9) is controlled to rotate in reverse to realize energy recovery.

2. The electric vehicle energy recovery control method as described in claim 1, characterized in that, If the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller based on the actual oil pressure value to control the drive motor to rotate in reverse, thereby realizing energy recovery. Specifically, this includes: If the received actual oil pressure value is higher than the set oil pressure value, compare the actual vehicle speed with the set vehicle speed, and based on the comparison result, determine whether to output the original negative torque signal or the set negative torque signal.

3. The electric vehicle energy recovery control method as described in claim 2, characterized in that: If the actual vehicle speed is less than the set vehicle speed, a set negative torque signal is output to the motor controller (8) to control the drive motor (9) to rotate in the opposite direction and realize energy recovery; the set negative torque signal is based on a set smooth curve related to the oil pressure value. If the actual vehicle speed is not less than the set vehicle speed, the original negative torque signal is output to the motor controller (8) to control the drive motor (9) to rotate in the opposite direction and realize energy recovery.

4. The electric vehicle energy recovery control method as described in claim 3, characterized in that: If the actual vehicle speed is zero, no negative torque signal is output, and energy recovery is not implemented.

5. The electric vehicle energy recovery control method as described in claim 3, characterized in that: The set oil pressure is 0.8 MPa; the set vehicle speed is 10 km / h.

6. The electric vehicle energy recovery control method as described in claim 1, characterized in that, If the received actual oil pressure value is higher than the set oil pressure value, a negative torque signal is output to the motor controller based on the actual oil pressure value to control the drive motor to rotate in reverse, thereby realizing energy recovery. Specifically, this includes: If the received actual oil pressure value is higher than the set oil pressure value, the deceleration value is calculated based on the vehicle speed. Then, based on the received actual oil pressure value and deceleration value, the landing point method is used to implement energy recovery according to the energy recovery intensity curve corresponding to the landing point until it is reduced to zero.

7. An energy recovery control device for electric vehicles, characterized in that, include: The oil pressure value judgment module is used to compare the actual oil pressure value received by ABS (5) with the set oil pressure value; The vehicle speed determination module is used to compare the actual vehicle speed with the set vehicle speed; The signal generation module is used to generate a negative torque signal based on the comparison results of oil pressure and vehicle speed. The control drive module is used to control the drive motor (9) to rotate in the opposite direction according to the generated negative torque signal, so as to realize energy recovery.

8. The electric vehicle energy recovery control device as described in claim 7, characterized in that: The oil pressure judgment module includes a vehicle power controller (4) and a brake master cylinder (2) connected to the vehicle power controller (4) and ABS (5). The vehicle power controller (4) is configured to compare the actual oil pressure value transmitted from the brake master cylinder (2) to the ABS (5) with the set oil pressure value, and transmit the comparison result to the signal generation module. The vehicle speed determination module includes a vehicle power controller (4) and a vehicle speed sensor (6) connected to the vehicle power controller (4). The vehicle power controller (4) is configured to compare the actual vehicle speed fed back by the vehicle speed sensor (6) with the target vehicle speed and transmit the comparison result to the signal generation module.

9. A computer device, characterized in that, The computer device includes a processor and memory: The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the method of any one of claims 1-6 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for performing the method of any one of claims 1-6.

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