Vehicle energy recovery method and device, vehicle, electronic equipment and storage medium

Abstract

The invention discloses a vehicle energy recovery method and device, a vehicle, electronic equipment and a storage medium, the vehicle comprises a suspension motor and a driving motor, and the method comprises the steps that in response to an energy feedback mode configuration instruction, the target control force of the suspension motor is determined based on the suspension speed; under the condition that the target control force is located in the energy feedback interval, the charging power of a suspension motor and the feedback power of a driving motor are obtained; and under the condition that the charging power of the suspension motor and the feedback power of the driving motor meet a first preset condition, energy recovery working conditions of the suspension motor and the driving motor are determined based on the vehicle running working conditions, and energy recovery control is conducted on the corresponding motor based on the energy recovery working conditions. According to the energy recovery method, the energy generated by vibration of the vehicle suspension is considered, and the energy recovery control of the whole vehicle is completed through the cooperation between the energy recovery of the suspension motor and the energy recovery of the driving motor.

Description

Technical Field

[0001] This application relates to the technical fields of vehicles and vehicle energy recovery, and in particular to a method, apparatus, vehicle, electronic device and storage medium for vehicle energy recovery. Background Technology

[0002] In related technologies, vehicle energy recovery mostly only recovers the inertial potential energy of the vehicle in the direction of travel, without recovering the vibration energy of the vehicle in the vertical direction. Furthermore, the control of these two types of energy recovery is relatively isolated and does not work in coordination. Summary of the Invention

[0003] Therefore, the purpose of this application is to provide a vehicle energy recovery method, device, vehicle, electronic device, storage medium and computer program product that takes into account the energy generated by vehicle suspension vibration, and completes the energy recovery control of the whole vehicle through the coordinated cooperation between suspension motor energy recovery and drive motor energy recovery.

[0004] This application provides an energy recovery method for a vehicle, the vehicle including a suspension motor and a drive motor. The method includes: responding to an energy recovery mode configuration command and determining a target control force of the suspension motor based on the suspension speed; when the target control force is within an energy recovery range, acquiring the charging power of the suspension motor and the feedback power of the drive motor; when the charging power of the suspension motor and the feedback power of the drive motor meet a first preset condition, determining the energy recovery condition of the suspension motor and the drive motor based on the vehicle's driving conditions, and recovering energy from the corresponding motors based on the energy recovery condition.

[0005] For example, the target control force being located in the feedable energy range includes at least one of the following: The target control force is less than or equal to the control force corresponding to the maximum charging power curve of the power battery at the suspension speed. The target control force is less than or equal to the control force corresponding to the suspension speed on the constant force curve of the suspension motor; The target control force is less than or equal to the control force corresponding to the maximum passive electromagnetic damping force curve at the suspension speed.

[0006] For example, the suspension motor charging power and the drive motor feedback power satisfy a first preset condition, including: the sum of the suspension motor charging power and the drive motor feedback power is less than or equal to the maximum charging power of the power battery.

[0007] For example, the energy feeding mode includes a full energy feeding mode and an energy feeding priority mode, the energy recovery condition includes an energy recovery intensity level corresponding to the energy feeding mode, and the method further includes: sending a control command to the corresponding motor based on the energy recovery intensity level corresponding to the energy feeding mode to realize energy recovery of the corresponding motor; wherein, the energy recovery intensity level corresponding to the full energy feeding mode is higher than the energy recovery intensity level corresponding to the energy feeding priority mode.

[0008] For example, the energy dissipation mode further includes an automatic energy dissipation mode, and the method further includes: when the energy dissipation mode is an automatic energy dissipation mode, determining the energy dissipation mode as the full energy dissipation mode or the energy dissipation priority mode based on the current charge level of the power battery, wherein when the current charge level of the power battery is greater than a charge threshold, the energy dissipation mode is determined to be the energy dissipation priority mode; when the current charge level of the power battery is less than or equal to the charge threshold, the energy dissipation mode is determined to be the full energy dissipation mode.

[0009] For example, the method further includes: turning off the energy recovery strategy of the suspension motor when the target control force is not in the energy recovery range, or the charging power of the suspension motor and the feedback power of the drive motor do not meet the first preset condition, or the suspension speed is less than the speed threshold.

[0010] Another embodiment of this application provides a vehicle for implementing the steps of the method of any of the above embodiments.

[0011] Another embodiment of this application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method of any of the above embodiments.

[0012] Another embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of any of the above embodiments.

[0013] Another embodiment of this application provides a computer program product, which includes instructions that, when executed by a processor of a computer device, enable the computer device to perform the steps of the method described in any of the above embodiments.

[0014] In the above embodiments, the vehicle includes a suspension motor and a drive motor. The method includes: responding to an energy recovery mode configuration command, determining a target control force for the suspension motor based on the suspension speed; when the target control force is within the energy recovery range, acquiring the charging power of the suspension motor and the feedback power of the drive motor; when the charging power of the suspension motor and the feedback power of the drive motor meet a first preset condition, determining the energy recovery conditions of the suspension motor and the drive motor based on the vehicle's driving conditions, and performing energy recovery control on the corresponding motors based on the energy recovery conditions. The energy recovery method of the present invention considers the energy generated by vehicle suspension oscillations and completes the energy recovery control of the entire vehicle through the coordinated cooperation between the energy recovery of the suspension motor and the energy recovery of the drive motor. Attached Figure Description

[0015] Figure 1 A schematic diagram of vehicle energy recovery provided for implementation of related technologies; Figure 2 A schematic diagram of vehicle energy recovery provided for implementation of related technologies; Figure 3 A schematic diagram of the vehicle system architecture provided for an embodiment of this application; Figure 4 A flowchart of a vehicle energy recovery method provided in this application embodiment; Figure 5 A schematic diagram of the suspension motor power supply area provided for an embodiment of this application; Figure 6 A flowchart of the vehicle energy feeding mode provided for the embodiments of this application; Figure 7 A schematic diagram of the vehicle energy feeding mode provided for the embodiments of this application; Figure 8 A flowchart of the fully fed mode provided for the embodiments of this application; Figure 9 A flowchart of the power supply priority mode provided for the implementation of this application; Figure 10 The energy recovery device for a vehicle provided in the embodiments of this application; Figure 11 A block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0016] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0017] In related technologies, vehicle energy recovery mostly only recovers the inertial potential energy of the vehicle in the direction of travel, without recovering the vibration energy of the vehicle in the vertical direction. Furthermore, the control of these two types of energy recovery is relatively isolated and does not work in coordination.

[0018] In some examples, such as Figure 1 As shown, Chinese invention patent application number "201710724405.3" entitled "An Active Braking Energy Recovery System and Control Method for a Dual-Motor Electric Bus" discloses an active braking energy recovery system and control method for a dual-motor electric bus. The system includes a front-mounted distance measurement module and a rear-mounted distance measurement module, respectively connected to a distance measurement module controller. The distance measurement module controller calculates the distance to the preceding and following vehicles, relative speed, and safety distance based on the distance measurement information sent in real time from the front and rear-mounted distance measurement modules, and generates distance measurement messages, which are then transmitted to the vehicle controller at preset intervals. The vehicle controller is also connected to the accelerator pedal, brake pedal, a first motor controller, and a second motor controller. The vehicle controller determines a control strategy in real time based on the received distance measurement messages and generates control messages by combining the corresponding offsets of the accelerator and brake pedals. The first and second motor controllers receive the control messages broadcast by the vehicle controller in real time and perform power output and braking energy recovery according to the vehicle's requirements. Although the energy recovery system provides the ability to generate ranging messages based on distance sensors and transmit them to the vehicle controller, which then determines the control strategy in real time based on the received ranging messages and sends the control messages to the motor controller to control power output and brake energy recovery, it only involves the construction of a dual-motor brake energy recovery system and does not cover the four-motor drive system or vehicle vibration energy recovery.

[0019] In some examples, such as Figure 2As shown, Chinese invention patent application number "202210011167.2" entitled "Energy Recovery Method, Apparatus, Vehicle, and Storage Medium for Vehicles" discloses a method, apparatus, vehicle, and storage medium for energy recovery in vehicles. The method includes: determining the energy recovery level based on the vehicle's current driving mode, thereby obtaining a regenerative braking energy recovery coefficient and a vibration energy recovery coefficient; and when the vehicle meets the regenerative braking energy recovery conditions and / or vibration energy recovery conditions, charging the power battery based on the regenerative braking energy recovery coefficient and the induced current generated by the drive motor when negative torque is applied, and / or, charging the power battery based on the vibration energy recovery coefficient and the induced current generated by the linear motor in the energy-feeding damper when the vehicle vibrates vertically. This solves the problem that vehicle battery capacity is affected by volume and material properties, thus limiting battery capacity improvement, and achieves multi-mode dual-control energy recovery, improving the vehicle's energy recovery efficiency and range. This patent determines the energy recovery level based on the vehicle's current driving mode, thereby obtaining the regenerative braking energy recovery coefficient and vibration energy recovery coefficient, realizing multi-mode dual-control energy recovery. However, for multi-motor integrated systems, the energy recovery level and intensity of each motor are not determined separately, and the control of the vehicle's driving system and the energy recovery efficiency need to be improved.

[0020] Based on this, this application proposes a vehicle energy recovery method that takes into account the energy generated by vehicle suspension vibration, and completes the overall vehicle energy recovery control through the coordinated cooperation between suspension motor energy recovery and drive motor energy recovery.

[0021] As an example, the vehicle energy recovery method of this application can be applied to an eight-motor vehicle, which includes four drive motors and four suspension motors, such as... Figure 3The diagram shows the vehicle's architecture. The vehicle includes four suspension motor units 101, four suspension motor controllers 102, four drive motor units 103, four drive motor controllers 104, a central controller 105, and a power battery 106. The four suspension motor units 101 are independent suspension motor structures separate from the drive motors, including but not limited to linear motor suspensions, rack and pinion motor suspensions, ball screw motor suspensions, hydraulic motor suspensions, and air spring motor suspensions, among other vibration energy recovery suspension structures. The four suspension motor controllers 102 are motor controllers that independently control the suspension damping force, featuring high-frequency response, low latency, and high efficiency. The four drive motor units 103 are independent four-motor drive structures, including but not limited to hub motors and wheel-side motors. The four drive motor controllers 104 are motor controllers that independently control the motor drive and braking forces, featuring high-frequency response, low latency, and high efficiency. The central controller 105 can integrate artificial intelligence fusion model algorithms such as neural networks, reinforcement learning, NLP natural language processing algorithms, CV models, pattern recognition, and image recognition. It is a high-performance processor with low latency, high frequency response, and high precision. The power battery 106 can adopt a high-performance lithium battery structure, featuring long lifespan and high safety with charge-discharge capability. The motor controllers 102 and 104 can integrate control boards for traditional power domain and chassis domain control, using PWM or improved PWM algorithm vector control. They feature low latency, high frequency response, and high precision, and can send commands in real time to control the suspension motor device 101 and the drive motor device 103.

[0022] It should be noted that the above-described eight-motor vehicle architecture is merely an example, and this application is not limited to an eight-motor vehicle structure. For example, the vehicle structure could also consist of two drive motors and two suspension motors, or two drive motors and four suspension motors, or four drive motors and two suspension motors, and so on. The vehicle only needs to include drive motors and suspension motors; the specific number is not limited. The following explanation uses an eight-motor vehicle structure as an example.

[0023] Figure 4 This is a flowchart of a vehicle energy recovery method according to an embodiment of this application.

[0024] As an example, such as Figure 4 As shown, the energy recovery methods for vehicles include: S401 responds to the energy feeding mode configuration command and determines the target control force of the suspension motor based on the suspension speed.

[0025] S402, when the target control force is within the regenerative range, acquires the charging power of the suspension motor and the feedback power of the drive motor.

[0026] S403, when the charging power of the suspension motor and the feedback power of the drive motor meet the first preset conditions, the energy recovery conditions of the suspension motor and the drive motor are determined based on the vehicle driving conditions, and energy is recovered from the corresponding motors based on the energy recovery conditions.

[0027] For example, the energy dissipation mode configuration command can be issued by the user. This application can pre-configure multiple energy dissipation modes in the vehicle's central control screen for the user to choose from. Alternatively, a energy dissipation mode activation button can be pre-configured, allowing the user to activate the energy dissipation mode with a single click. Or, an energy dissipation mode activation algorithm can be pre-configured to generate the energy dissipation mode configuration command when the activation conditions are met. The vehicle responds to the energy dissipation mode configuration command and obtains the suspension speed. During vehicle operation, the suspension vibrates in a direction perpendicular to the ground; the suspension speed is the speed at which the suspension vibrates in this direction. A higher suspension speed indicates a higher vibration frequency. After obtaining the suspension speed, the central controller determines the target control force of the suspension motor based on the suspension speed. It can be understood that the target control force of the suspension motor is the control force required by the suspension motor to reduce suspension vibration. This control force is a general term for control output and can also take other forms, such as control torque, control torque, etc. The target control force of the suspension motor can be calculated based on the algorithm built into the central controller. It is determined whether the target control force is within the energy dissipation range; if it is, the motor energy dissipation is activated. At this time, the motor energy feeding is activated, and the energy recovery of the suspension motor and drive motor is also activated.

[0028] For example, this application also combines parameters of the suspension system recovery and drive system recovery for collaborative judgment, and simultaneously obtains the suspension motor charging power and drive motor feedback power. The suspension motor charging power is the charging power when the suspension motor converts kinetic potential energy into electrical energy to charge the vehicle's power battery. The drive motor feedback power is the charging power when the drive motor converts kinetic potential energy into electrical energy to charge the vehicle's power battery during downhill or braking scenarios. When the suspension motor charging power and drive motor feedback power meet a first preset condition, the energy recovery conditions of the suspension motor and drive motor are determined based on the vehicle's driving conditions. For example, the recovery conditions corresponding to each of the eight motors are determined, and energy recovery control is performed on the corresponding motor based on the recovery conditions.

[0029] It should be noted that the energy recovery method for the vehicle described above is a real-time process. As the vehicle moves, the suspension speed may change continuously. If the target control force calculated from the suspension speed at a certain moment is within the energy recovery range, energy recovery control is initiated. If the target control force calculated from the suspension speed at a certain moment is not within the energy recovery range, the suspension speed needs to be updated and recalculated.

[0030] This energy recovery method is applied to a multi-motor integrated system. Based on the driver's selected mode, a command is sent to the central controller. The controller calculates the energy feedback conditions for each motor using its built-in neural network algorithm. The eight-motor integrated system employs independent vector control, resulting in a simpler control process and more precise control. Furthermore, it fully considers the energy generated by vehicle suspension vibrations, both reducing shocks and improving user comfort, while also recovering vibration energy to enhance the vehicle's range. By combining the parameters of suspension system recovery and drive system recovery for coordinated judgment, vehicle safety is further ensured.

[0031] As an example, the target control force being within the feedable energy range includes at least one of the following: The target control force is less than or equal to the control force corresponding to the maximum charging power curve of the power battery at the suspension speed. The target control force is less than or equal to the control force corresponding to the constant force curve of the suspension motor at the suspension speed; The target control force is less than or equal to the control force corresponding to the maximum passive electromagnetic damping force curve at the suspension speed.

[0032] For example, such as Figure 5 The diagram shows the suspension motor's energy supply region. Curve 201 is the maximum charging power curve, which is the maximum allowable charging power of the battery. Curve 202 is the maximum passive electromagnetic damping force curve, which is the maximum electromagnetic damping force generated by the back electromotive force at different speeds of the suspension motor, where K is the slope of the experimentally measured maximum electromagnetic damping force. Curve 203 is the motor constant force curve, which is the maximum thrust or pull force that the motor can generate. Curve 204 is the motor constant power curve, which is the maximum power that the motor can output. The horizontal axis represents the suspension speed, and the upward direction of the suspension speed can be set as the positive direction, and the downward direction as the negative direction. The vertical axis represents the control force F. C .like Figure 5 As shown, region ① is the energy-feedable region. Under instantaneous operating conditions, the suspension motor generates a suspension speed v. If the calculated target control force F of the suspension motor... C If the energy falls within this recoverable energy range, energy can be recovered; otherwise, it cannot. The recoverable energy range is defined by the three curves: the maximum charging power curve (201) of the power battery, the constant force curve (203) of the suspension motor, and the maximum passive electromagnetic damping force curve (202), along with the horizontal axis. The target control force is calculated based on a given suspension speed. If this target control force is less than or equal to the control force corresponding to that suspension speed on the maximum charging power curve of the power battery, or less than or equal to the control force corresponding to that suspension speed on the constant force curve of the suspension motor, or less than or equal to the control force corresponding to that suspension speed on the maximum passive electromagnetic damping force curve, then the target control force is determined to be within the recoverable energy range.

[0033] It should be noted that when comparing the target control force with the control force corresponding to the curve, the comparison is based on the absolute value of the target control force and the absolute value of the curve control force, without considering the direction, that is, without considering the positive or negative value.

[0034] like Figure 5 As shown, region ② is the non-rechargeable energy region. In this region, the suspension motor operates as an electric motor, meaning the vehicle's battery needs to provide energy to the suspension motor. Region ③ generates an induced electromotive force, but this energy cannot be recovered due to the voltage boost ratio limitation.

[0035] As an example, the suspension motor charging power and the drive motor feedback power meet the first preset conditions, including: the sum of the suspension motor charging power and the drive motor feedback power is less than or equal to the maximum charging power of the power battery.

[0036] For example, the application also combines parameters from the suspension system regeneration and the drive system regeneration for collaborative judgment to obtain the suspension motor charging power and drive motor regenerative power. The suspension motor charging power is the charging power when the suspension motor converts kinetic potential energy into electrical energy to charge the vehicle's power battery. The drive motor regenerative power is the charging power when the drive motor converts kinetic potential energy into electrical energy to charge the vehicle's power battery during downhill or braking scenarios (also referred to as drive motor regenerative power). When the suspension system regeneration and the drive system regeneration are running simultaneously, to ensure the safety of the power battery, the sum of the suspension motor charging power and the drive motor regenerative power must be less than or equal to the maximum charging power of the power battery. If the sum of the suspension motor charging power and the drive motor regenerative power is greater than the maximum charging power of the power battery, it indicates that the charging power of the power battery at this time has exceeded its maximum capacity. To ensure the safety of the power battery, at least one of the suspension motor charging power and the drive motor regenerative power can be appropriately reduced, or a certain system energy recovery can be turned off, for example, the suspension system energy recovery or the drive system energy recovery can be turned off.

[0037] This application combines suspension system recovery and drive system recovery for coordinated operation, ensuring the safety of the vehicle's power battery.

[0038] As an example, the vehicle's energy recovery method also includes: shutting down the energy recovery strategy of the suspension motor when the target control force is not in the regenerative range, or the charging power of the suspension motor and the feedback power of the drive motor do not meet the first preset condition, or the suspension speed is less than the speed threshold.

[0039] For example, after calculating the target control force based on the suspension speed, if the target control force is not within the recoverable energy range—for instance, if the target control force is greater than the control force corresponding to the maximum charging power curve of the power battery, or greater than the control force corresponding to the constant force curve of the suspension motor, or greater than the control force corresponding to the maximum passive electromagnetic damping force curve of the suspension speed—the central controller disables the energy recovery strategy of the suspension motor. Alternatively, although the target control force is within the recoverable energy range, if the charging power of the suspension motor and the feedback power of the drive motor do not meet the first preset condition (i.e., the sum of the charging power of the suspension motor and the feedback power of the drive motor is greater than the maximum charging power of the power battery), the central controller disables the energy recovery strategy of the suspension motor to ensure the safety of the power battery.

[0040] For example, when the target control force is within the recoverable energy range, but the suspension motor charging power and drive motor feedback power do not meet the first preset condition, the control measures are not limited to simply turning off the suspension motor's energy recovery strategy. Alternatively, at least one of the suspension motor charging power and drive motor feedback power can be appropriately reduced, or the drive system's energy recovery can be turned off. Preferably, the suspension motor's energy recovery strategy is turned off.

[0041] For example, suppose the vehicle initially activates the energy recovery strategy of the suspension motor. As the vehicle gradually stabilizes and the suspension speed decreases, if the suspension speed falls below a certain threshold, the energy generated by the suspension motor cannot overcome the boost ratio limit, and therefore this energy cannot be recovered. In this case, the energy recovery strategy of the suspension motor is deactivated. Figure 5 The curve shown illustrates that the speed threshold can be set as the speed at the boundary between regions ① and ③. When the suspension speed is less than the speed threshold, the target control force is in region ③. Although an induced electromotive force is generated in region ③, this energy cannot be recovered due to the voltage boost ratio limitation. Therefore, when the suspension speed is less than the speed threshold, the central controller disables the energy recovery strategy of the suspension motor.

[0042] Figure 6 This is a flowchart of a vehicle energy feeding mode according to an embodiment of this application.

[0043] like Figure 6As shown, the user first selects a recharge mode. For example, they can choose one of the following: full recharge mode, excellent recharge mode, or automatic recharge mode. The central controller will calculate the target control force Fc of the suspension motor based on the user's selected mode and determine whether the suspension motor control force Fc and the suspension speed v fall within the rechargeable range. The suspension speed v is a directly obtained parameter, which can be used to calculate the suspension motor control force Fc based on the vehicle's operating conditions. If it is not within the rechargeable range, the suspension recharge strategy is turned off. If it is within the rechargeable range, it continues to determine whether the sum of the suspension charging power and the drive motor feedback power is less than the maximum feedback power of the power battery. If not, the suspension recharge strategy is turned off; if so, the user's selected recharge mode is executed.

[0044] The electric vehicle vibration energy recovery system and control method disclosed in this application allow the driver to select a suspension energy recovery mode. The central controller can calculate the energy feeding conditions of each drive motor and suspension motor based on the vehicle's driving conditions and the charging and discharging conditions of the power battery, and then send control signals to the MCU to control the real-time response of the motors.

[0045] like Figure 7 This is a schematic diagram of the vehicle energy recovery mode design of this application. The energy recovery system of the vehicle in this application has three modes, including the following: Full energy recovery mode: maximizes energy recovery, and the suspension motor operates as a generator. Energy recovery priority mode: Smoothness is taken into account while recovering energy, and the suspension motor operates as a generator. Automatic power replenishment mode: can automatically select the power replenishment mode according to the current battery level, and the suspension motor operates in generator mode.

[0046] In the generator mode, the suspension motor can output electrical energy. Conversely, when the power battery outputs electrical energy to the suspension motor, the suspension motor operates as an electric motor.

[0047] As an example, this application can set different energy recovery intensity levels for the suspension motor and drive motor according to different energy recovery modes. Different energy recovery modes correspond to different energy recovery intensity levels for the suspension motor and drive motor. This application uses three modes as examples: full energy recovery mode, energy recovery priority mode, and automatic energy recovery mode. Of course, the number of energy recovery modes is not limited to these three, and multiple modes can be set according to vehicle or user needs.

[0048] As an example, the energy recovery operating condition includes the energy recovery intensity level corresponding to the energy feeding mode, and the energy recovery method also includes: sending control commands to the corresponding motor based on the energy recovery intensity level corresponding to the energy feeding mode, so as to realize energy recovery of the corresponding motor; wherein, the energy recovery intensity level corresponding to the full energy feeding mode is higher than the energy recovery intensity level corresponding to the energy feeding priority mode.

[0049] For example, both the full energy recovery mode and the energy recovery priority mode correspond to different energy recovery intensity levels, with the full energy recovery mode having a higher energy recovery intensity level than the energy recovery priority mode. The central controller determines the energy recovery condition of each motor based on the vehicle's operating status and generates control commands, which are then sent to the motor controllers corresponding to each motor to achieve energy recovery for that motor. It can be understood that in full energy recovery mode, each motor recovers energy to the maximum extent, resulting in higher suspension charging power and drive motor feedback power. In energy recovery priority mode, the motors balance energy recovery with smoothness; for example, the suspension charging power and drive motor feedback power are relatively lower.

[0050] The energy recovery system of this application sends instructions to the central controller according to the mode selected by the driver. The controller calculates the energy feedback conditions of each motor according to its built-in neural network algorithm, and determines the energy recovery level and intensity of each motor. It can achieve the maximum energy recovery efficiency while maintaining the stability of the vehicle, or take into account the smoothness and comfort of the vehicle while recovering energy, thus extending the driving range of the electric vehicle while taking into account the smoothness of the vehicle.

[0051] Figure 8 This is a flowchart of a fully fed mode according to an embodiment of this application.

[0052] like Figure 8 As shown, firstly, the user selects the full regenerative braking mode. The central controller determines the regeneration conditions for each drive motor and each suspension motor based on the vehicle's driving conditions and sends control commands to the eight controllers respectively to achieve the maximum regeneration power of the entire vehicle. Each motor executes the control commands to achieve the full regenerative braking mode. For example, the user can activate the full regenerative braking mode when the vehicle's battery is low.

[0053] Figure 9 This is a flowchart of a power supply priority mode according to an embodiment of this application.

[0054] First, the user selects the energy recovery priority mode. The central controller determines the energy recovery conditions for each drive motor and each suspension motor based on the vehicle's driving conditions and sends control commands to the eight controllers accordingly, thereby improving energy recovery efficiency while ensuring overall vehicle smoothness. For example, the user can activate the energy recovery priority mode when the vehicle's battery is sufficiently charged.

[0055] As an example, the energy recovery mode also includes an automatic energy recovery mode, and the energy recovery method also includes: when the energy recovery mode is an automatic energy recovery mode, determining whether the energy recovery mode is a full energy recovery mode or an energy recovery priority mode based on the current charge of the power battery.

[0056] For example, when a user selects automatic energy recovery mode, the central controller can determine whether to use full energy recovery mode or energy recovery priority mode based on the current charge level of the power battery. For instance, when the power battery is at a healthy charge level, energy recovery priority mode is activated to ensure smooth vehicle operation and thus enhance the user's driving experience. When the power battery is at an unhealthy charge level, full energy recovery mode is activated, allowing the vehicle to recover energy at maximum power and extend its range.

[0057] As an example, when the current charge of the power battery is greater than the charge threshold, the power supply mode is determined to be the power supply priority mode; when the current charge of the power battery is less than or equal to the charge threshold, the power supply mode is determined to be the full power supply mode.

[0058] For example, a power battery charge threshold can be set to determine the current charge level of the power battery, thereby selecting different energy dissipation modes. Of course, different energy dissipation modes can also be selected based on the driver's driving habits and vehicle usage scenarios. For instance, if the user habitually uses the full energy dissipation mode, they can also select it when the power battery's current charge level is healthy. Besides battery charge level, other parameters or weighted considerations can be used to select the energy dissipation mode; this application does not limit this approach.

[0059] This application can extend the driving range of electric vehicles by selecting an energy recovery mode based on the driver's driving habits and vehicle usage scenarios, thereby controlling the vehicle's operating conditions. First, it determines whether to activate suspension energy recovery based on the suspension motor's energy recovery area, and then adjusts the energy recovery intensity of the suspension and drive motor according to needs to achieve the goal of extending the electric vehicle's driving range while also considering vehicle smoothness and comfort, thus better meeting user needs.

[0060] This application also proposes an energy recovery device for a vehicle.

[0061] As an example, such as Figure 10As shown, the vehicle's energy recovery device includes: a determining module 1001, used to determine the target control force of the suspension motor based on the suspension speed in response to an energy feeding mode configuration command; an acquiring module 1002, used to acquire the charging power of the suspension motor and the feedback power of the drive motor when the target control force is within the energy feeding range; and a recovery module 1003, used to determine the energy recovery conditions of the suspension motor and the drive motor based on the vehicle's driving conditions when the charging power of the suspension motor and the feedback power of the drive motor meet a first preset condition, and to recover energy from the corresponding motors based on the energy recovery conditions.

[0062] This application also proposes a vehicle for implementing the energy recovery method described above.

[0063] This application also proposes a computer-readable storage medium.

[0064] In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, it implements the steps of the energy recovery method for the vehicle described above.

[0065] Figure 11 A block diagram of an electronic device provided in an embodiment of this application.

[0066] This application provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the energy recovery method for the vehicle described above.

[0067] like Figure 11 As shown, for ease of understanding, embodiments of this application illustrate a specific electronic device.

[0068] Electronic devices are intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0069] like Figure 11As shown, the device includes a computing unit 1101, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 1102 or a computer program loaded into random access memory (RAM) 1103 from storage unit 1108. The RAM 1103 may also store various programs and data required for the operation of the electronic device. The computing unit 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. An input / output (I / O) interface 1105 is also connected to bus 1104.

[0070] Multiple components in the electronic device are connected to the I / O interface 1105. These components include: an input unit 1106, such as a keyboard or mouse; an output unit 1107, such as various types of displays or speakers; a storage unit 1108, such as a hard disk or optical disk; and a communication unit 1109, such as a network interface card (NIC), a modem, or a wireless transceiver. The communication unit 1109 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0071] The computing unit 1101 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods described above, such as the energy recovery method for a vehicle. For example, in some embodiments, the energy recovery method for a vehicle may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via ROM 1102 and / or communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, the energy recovery method for a vehicle described above can be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the energy recovery method for a vehicle by any other suitable means (e.g., by means of firmware).

[0072] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this application, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0073] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0074] In the description of this application, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0075] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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.

[0076] Furthermore, the terms "first," "second," etc., used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance, or implicitly specifying the number of technical features indicated in this embodiment. Therefore, features defined with terms such as "first" and "second" in the embodiments of this application can explicitly or implicitly indicate that the embodiment includes at least one of those features. In the description of this application, the word "multiple" means at least two or more, such as two, three, four, etc., unless otherwise explicitly and specifically defined in the embodiments.

[0077] In this application, unless otherwise explicitly specified or limited in the embodiments, the terms "installation," "connection," "joining," and "fixing" appearing in the embodiments should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral part; it can also be a mechanical connection, an electrical connection, etc. Of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication between two components, or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific implementation.

[0078] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0079] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for energy recovery in a vehicle, characterized in that, The vehicle includes a suspension motor and a drive motor, and the method includes: In response to the energy feeding mode configuration command, the target control force of the suspension motor is determined based on the suspension speed; When the target control force is within the regenerative range, the suspension motor charging power and the drive motor feedback power are obtained; When the charging power of the suspension motor and the feedback power of the drive motor meet the first preset conditions, the energy recovery conditions of the suspension motor and the drive motor are determined based on the vehicle driving conditions, and energy is recovered from the corresponding motors based on the energy recovery conditions.

2. The energy recovery method for a vehicle according to claim 1, characterized in that, The target control force being located in the feedable energy range includes at least one of the following: The target control force is less than or equal to the control force corresponding to the maximum charging power curve of the power battery at the suspension speed. The target control force is less than or equal to the control force corresponding to the suspension speed on the constant force curve of the suspension motor; The target control force is less than or equal to the control force corresponding to the maximum passive electromagnetic damping force curve at the suspension speed.

3. The energy recovery method for a vehicle according to claim 1, characterized in that, The charging power of the suspension motor and the feedback power of the drive motor satisfy a first preset condition, including: The sum of the suspension motor charging power and the drive motor feedback power is less than or equal to the maximum charging power of the power battery.

4. The energy recovery method for a vehicle according to claim 1, characterized in that, The energy feeding modes include full energy feeding mode and energy feeding priority mode; the energy recovery conditions include energy recovery intensity levels corresponding to the energy feeding modes; and the method further includes: Based on the energy recovery intensity level corresponding to the energy feeding mode, a control command is sent to the corresponding motor to realize energy recovery for the corresponding motor; The energy recovery intensity level corresponding to the full energy feeding mode is higher than that corresponding to the energy feeding priority mode.

5. The energy recovery method for a vehicle according to claim 4, characterized in that, The power supply mode also includes an automatic power supply mode, and the method further includes: When the energy supply mode is automatic energy supply mode, the energy supply mode is determined to be either full energy supply mode or energy supply priority mode based on the current charge of the power battery. Wherein, when the current charge of the power battery is greater than the charge threshold, the energy feeding mode is determined to be the energy feeding priority mode; When the current charge of the power battery is less than or equal to the charge threshold, the energy feeding mode is determined to be the full energy feeding mode.

6. The energy recovery method for a vehicle according to claim 1, characterized in that, The method further includes: If the target control force is not within the energy recovery range, or the charging power of the suspension motor and the feedback power of the drive motor do not meet the first preset condition, or the suspension speed is less than the speed threshold, the energy recovery strategy of the suspension motor is turned off.

7. An energy recovery device for a vehicle, characterized in that, The vehicle includes a suspension motor and a drive motor, and the device includes: The determination module is used to respond to the energy feeding mode configuration command and determine the target control force of the suspension motor based on the suspension speed; The acquisition module is used to acquire the suspension motor charging power and the drive motor feedback power when the target control force is within the energy-feedable range; The energy recovery module is used to determine the energy recovery conditions of the suspension motor and the drive motor based on the vehicle driving conditions when the charging power of the suspension motor and the feedback power of the drive motor meet the first preset conditions, and to perform energy recovery on the corresponding motor based on the energy recovery conditions.

8. A vehicle, characterized in that, The vehicle is used to implement the steps of the method described in any one of claims 1-6.

9. An electronic device, characterized in that, The method includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, It stores a computer program thereon, which, when executed by a processor, implements the steps of the method described in any one of claims 1-6.

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