Energy recovery method and device, electronic equipment and storage medium

Abstract

The invention provides an energy recovery method and device, electronic equipment and a storage medium, and relates to the technical field of data processing. The method comprises the following steps: acquiring a running state change trend of a target vehicle, wherein the running state change trend comprises a change degree from a historical running state to a current running state; therefore, the energy use mode determined according to the running state change trend is combined with the energy use mode determined from the historical running state of the target vehicle to the current running state, and the triggering accuracy of energy recovery is improved to a certain extent; further, if the energy use mode is an energy recovery mode, energy recovery parameters are determined according to the running state change trend, and energy recovery is carried out according to the energy recovery parameters; the energy recovery parameters are dynamically determined according to the running state change trend, so that the energy recovery parameters are more flexible, the energy recovery efficiency is improved, and energy waste is reduced to a certain extent.

Description

Technical Field

[0001] This disclosure belongs to the field of data processing technology, and specifically relates to an energy recovery method, apparatus, electronic device and storage medium. Background Technology

[0002] Vehicle energy recovery refers to the process of converting the kinetic energy generated during vehicle deceleration into electrical energy and storing it in the battery. Typically, the vehicle's braking signal is used as the trigger signal for whether energy recovery is to be initiated, and the amount of energy recovered usually depends on fixed parameters.

[0003] However, using only the braking signal as the trigger signal for energy recovery without considering the actual operating state of the vehicle leads to inaccurate energy recovery triggering and an inability to adjust the energy recovery parameters according to the actual operating state of the vehicle. This reduces the efficiency of kinetic energy recovery to some extent and causes some energy waste. Summary of the Invention

[0004] This disclosure presents an energy recovery method, apparatus, electronic device, and storage medium.

[0005] A first aspect of this disclosure provides an energy recovery method, the method comprising: Acquire the trend of the target vehicle's operating status; the trend of the operating status includes the degree of change from the historical operating status to the current operating status; The energy usage pattern is determined based on the trend of the change in the operating status. If the energy usage mode is an energy recovery mode, the energy recovery parameters are determined based on the trend of the operating status change, and energy recovery is performed according to the energy recovery parameters.

[0006] In this embodiment of the disclosure, the historical operating state includes historical operating speed, historical energy usage pattern, and historical driving mode, and the current operating state includes current operating speed and current driving mode; determining the energy usage pattern based on the trend of the operating state includes: If the current driving mode is automatic driving mode, then the current energy usage mode is determined based on the historical driving mode, historical energy usage mode, and operating speed change; wherein the operating speed change refers to the speed difference between the current operating speed and the historical operating speed. If the current driving mode is manual driving mode, then the energy recovery mode is set according to the relationship between the current operating speed and the preset speed threshold.

[0007] In this embodiment of the disclosure, determining the current energy usage mode based on the historical driving mode, historical energy usage mode, and changes in operating speed includes: If the historical driving mode is an automatic driving mode, the current energy usage mode is set according to the historical energy usage mode and the change in operating speed; If the historical driving mode is manual driving mode, the current energy usage mode is set according to the historical energy usage mode.

[0008] In this embodiment of the disclosure, the historical operating speed further includes historical acceleration, and the current operating speed includes current acceleration; setting the current energy usage mode based on the historical energy usage pattern and the change in operating speed includes: If the historical energy usage mode is the energy recovery mode, and the change in operating speed meets the preset speed condition, then the current energy usage mode is kept as the energy recovery mode; if the change in operating speed does not meet the preset speed condition, the current energy usage mode is set to the energy supply mode, and an acceleration mode is set. If the historical energy usage mode is the energy supply mode, and the current acceleration is greater than the first preset acceleration threshold, then the current energy usage mode is kept as the energy supply mode.

[0009] In this embodiment of the disclosure, setting the current energy usage mode based on the historical energy usage pattern includes: If the historical energy usage mode is an energy recovery mode, then the current energy usage mode is kept as the energy recovery mode; If the historical energy usage mode is an energy supply mode, the relationship between the current acceleration and the second preset acceleration threshold is detected; wherein, the second preset acceleration threshold is the sum of the first preset acceleration threshold and the preset error threshold; If the current acceleration is greater than the second preset acceleration threshold, the current energy usage mode is set to the energy supply mode; If the current acceleration is less than or equal to the second preset acceleration threshold, then the current energy usage mode is set to the energy recovery mode.

[0010] In this embodiment of the disclosure, the trend of change in operating state further includes the predicted trend of change between the current operating state and the predicted operating state. The predicted trend includes changes in position, velocity, and acceleration. Determining energy recovery parameters based on the trend of change in operating state includes: The target energy recovery amount is determined based on the relationship between the changes in position, velocity, and acceleration and the energy recovery amount. Based on the target energy recovery amount and the preset energy recovery amount threshold, the target negative torque and the target hydraulic torque are determined; the target negative torque and the target hydraulic torque are used as the energy recovery parameters.

[0011] In this embodiment of the disclosure, determining the target negative torque and the target hydraulic torque based on the target energy recovery amount and a preset energy recovery amount threshold includes: If the target energy recovery amount is greater than the preset energy recovery amount threshold, then the negative torque corresponding to the preset energy recovery amount threshold is taken as the target negative torque, and the hydraulic torque corresponding to the difference is taken as the target hydraulic torque; the difference refers to the difference between the target energy recovery amount and the preset energy recovery amount threshold. If the target energy recovery amount is less than or equal to a preset energy recovery amount threshold, then based on the mapping relationship between the target energy recovery amount and the negative torque, the target negative torque corresponding to the target energy recovery amount is determined, and the target hydraulic torque is set to zero.

[0012] A second aspect of this disclosure provides an energy recovery device, the device comprising: The acquisition module is used to acquire the operating status change trend of the target vehicle; the operating status change trend includes the degree of change from the historical operating status to the current operating status; The module is used to determine the energy usage pattern based on the trend of the operating status change. The parameter determination module is used to determine energy recovery parameters based on the trend of the operating state if the energy usage mode is energy recovery mode, so as to perform energy recovery based on the energy recovery parameters.

[0013] An embodiment of the third aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect or any optional embodiment of the first aspect.

[0014] An embodiment of the fourth aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method described in the first aspect or any optional embodiment of the first aspect.

[0015] The technical solutions provided in this disclosure have at least the following technical effects or advantages: This embodiment of the disclosure obtains the operating status change trend of the target vehicle, wherein the operating status change trend includes the degree of change from the historical operating status to the current operating status; therefore, the energy usage pattern determined according to the operating status change trend, combined with the energy usage pattern determined from the historical operating status to the current operating status of the target vehicle, improves the triggering accuracy of energy recovery to a certain extent; furthermore, if the energy usage mode is an energy recovery mode, energy recovery parameters are determined according to the operating status change trend, and energy recovery is performed according to the energy recovery parameters; dynamically determining the energy recovery parameters according to the operating status change trend makes the energy recovery parameters more flexible, thereby improving energy recovery efficiency and reducing energy waste to a certain extent.

[0016] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this disclosure. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of an energy recovery method provided in an embodiment of this disclosure is shown; Figure 2 A schematic flowchart of an energy recovery method provided in an embodiment of this disclosure is shown; Figure 3 A schematic diagram of an energy recovery method provided in an embodiment of this disclosure is shown; Figure 4A and Figure 4B A schematic diagram of an energy recovery method provided in an embodiment of this disclosure is shown; Figure 5 A schematic diagram of the structure of an energy recovery device provided in another embodiment of this disclosure is shown; Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure is shown; Figure 7 A schematic diagram of a storage medium provided according to an embodiment of the present disclosure is shown. Detailed Implementation

[0018] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0019] It should be noted that, unless otherwise stated, the technical or scientific terms used in this disclosure shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains.

[0020] The following describes the implementation scenarios and related technologies involved in the embodiments of this disclosure.

[0021] Vehicle energy recovery refers to the process of converting the kinetic energy generated during vehicle deceleration into electrical energy and storing it in the battery. During vehicle operation, the key questions are: when and how should energy recovery be performed to achieve high efficiency and avoid energy waste? To address these issues, relevant technologies use the vehicle's braking signal as the trigger signal for energy recovery. Upon receiving the braking signal, energy recovery is initiated accordingly.

[0022] However, relying solely on the braking signal as the trigger for energy recovery can increase the "jerkiness" of the vehicle and reduce the passenger's riding experience. Furthermore, after triggering energy recovery, fixed energy recovery parameters are usually used for energy recovery, which in some cases can result in low energy recovery efficiency and thus some energy waste.

[0023] In view of the above, this disclosure provides an energy recovery method, apparatus, electronic device, and storage medium. The technical solutions of this disclosure are described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0024] like Figure 1 As shown in the embodiments of this disclosure, an energy recovery method is provided. The method includes: In step S11, the trend of the target vehicle's operating status change is obtained.

[0025] The trend of operational status change includes the degree of change from the historical operational status to the current operational status.

[0026] For example, the target vehicle is a vehicle that requires energy recovery. During operation, the target vehicle can convert kinetic energy into electrical energy and store it in the battery to extend its usage time. The target vehicle can be a vehicle with pure electric range or a vehicle with hybrid range, etc.

[0027] The trend of motion changes represents the actual operating status of the target vehicle. Combining historical and current operating statuses allows for a more accurate determination of the target vehicle's operating status, enabling the accurate determination of energy usage patterns based on this trend.

[0028] Typically, the corresponding operational status change trend can be obtained by reading the vehicle network data of the target vehicle, reading the data stored in the vehicle's in-vehicle system, or reading the data corresponding to the vehicle's onboard sensors. This disclosure does not limit the method for obtaining the operational status change trend; those skilled in the art can determine the method based on the actual situation.

[0029] In step S12, the energy usage mode is determined based on the trend of changes in the operating status.

[0030] For example, energy usage modes can be energy recovery mode and energy supply mode. Energy recovery mode typically corresponds to the need to recover kinetic energy and convert it into electrical energy, while energy supply mode typically does not require energy recovery, requires battery function, and corresponds to acceleration mode.

[0031] Energy recovery is typically required when a target vehicle decelerates, resulting in a decrease in kinetic energy. Therefore, it can be determined based on the target vehicle's speed-related operating state. For example, the energy usage pattern can be determined by analyzing trends in speed and acceleration within the target vehicle's operating state.

[0032] For example, if the trend of velocity change is gradually decreasing, or the trend of acceleration change is gradually decreasing, then the energy usage mode can be determined as an energy recovery mode. If the corresponding trend of velocity change is gradually increasing, or the trend of acceleration change is gradually increasing, then the energy usage mode can be determined as an energy supply mode, corresponding to the energy supply mode.

[0033] In some embodiments, the target vehicle may also support an autonomous driving mode, which refers to the technology that enables the target vehicle to navigate and drive automatically without active human driver intervention. Autonomous driving can transform unpredictable situations such as deceleration into predictable detection, and compared to manual driving mode, autonomous driving mode can achieve more efficient energy recovery. Therefore, when determining the energy usage mode, historical driving modes can also be further considered. Thus, the historical operating state also needs to include historical operating speed, historical energy usage mode, and historical driving mode; the current operating state includes the current operating speed and the current driving mode.

[0034] The aforementioned determination of energy usage mode based on the trend of changing operating status can be achieved in the following ways: If the current driving mode is automatic driving mode, the current energy usage mode is determined based on historical driving modes, historical energy usage modes, and changes in operating speed; where changes in operating speed refer to the speed difference between the current operating speed and the historical operating speed. If the current driving mode is manual driving mode, the energy recovery mode is set based on the relationship between the current operating speed and a preset speed threshold. For example, when the target vehicle is currently in autonomous driving mode, to determine the energy usage mode, the energy recovery mode can be further determined by referring to historical driving modes and historical energy usage modes, and by combining them with actual changes in operating speed. The historical energy usage mode represents the energy usage mode corresponding to the previous calculation cycle. The change in operating speed can be the difference between the current speed and the historical average speed or the speed at the previous moment. When the target vehicle is currently in manual driving mode, it is only necessary to focus on whether acceleration is needed. If acceleration is required, the energy recovery mode is set to energy supply mode; if deceleration or the speed is low, the energy usage mode is set to energy recovery mode.

[0035] For example, if the historical driving mode is also in autonomous driving mode (continuous autonomous driving), then the consistency with the historical energy usage mode is further determined based on changes in operating speed, or whether energy is provided corresponding to changes in operating speed. Whether energy is provided can be determined by whether the throttle angle is greater than zero. If the throttle angle is greater than zero, it indicates that the target vehicle is in a state requiring energy, in which case energy recovery is not necessary, and acceleration can be activated.

[0036] In some embodiments, if the historical energy usage mode is an energy recovery mode, the system detects whether the change in operating speed meets a preset speed condition; if the change in operating speed meets the preset speed condition, the current energy usage mode is maintained as an energy recovery mode; if the change in operating speed does not meet the preset speed condition, the current energy usage mode is set to an energy supply mode, and an acceleration mode is set; if the historical energy usage mode is an energy supply mode, and the current acceleration is greater than a first preset acceleration threshold, the current energy usage mode is maintained as an energy supply mode.

[0037] For example, when the historical energy usage mode is energy recovery mode, it is necessary to further determine whether the corresponding change in operating speed meets a preset speed condition. In this embodiment, the change in operating speed can be characterized by the throttle change angle of the target vehicle, where the throttle change angle can be the angle difference between the current throttle angle and the historical throttle angle. If the throttle change angle is zero, the energy usage mode can be set to energy recovery mode; if the throttle change angle is greater than zero, the energy usage mode can be set to energy supply mode. When the historical energy usage mode is energy supply mode, it can be directly determined whether continuous energy supply is still needed based on the current acceleration. Whether to continue supplying energy depends on whether acceleration occurs, that is, whether the corresponding current acceleration is greater than a first preset acceleration threshold, where the first preset acceleration threshold can be determined according to the actual situation.

[0038] In the above embodiments, when the historical driving mode is manual (non-continuous automatic driving), it indicates that the target vehicle is in automatic driving mode during the current calculation cycle. Therefore, when determining the energy usage mode, to ensure the efficiency of energy recovery, the current energy usage mode can be further set based on the historical energy usage mode. For example, to improve the passenger experience, when the trend of changes in the operating state is not very obvious, the historical energy usage mode can be continued; when it is determined based on the trend of changes in the operating state that energy supply or energy recovery is needed, the corresponding mode is switched.

[0039] In some embodiments, if the historical energy usage mode is energy recovery mode, the current energy usage mode is maintained as energy recovery mode; if the historical energy usage mode is energy supply mode, the relationship between the current acceleration and a second preset acceleration threshold is detected; wherein, the second preset acceleration threshold is the sum of a first preset acceleration threshold and a preset error threshold; if the current acceleration is greater than the second preset acceleration threshold, the current energy usage mode is set to energy supply mode. If the current acceleration is less than or equal to the second preset acceleration threshold, the current energy usage mode is set to energy recovery mode.

[0040] For example, when the historical energy usage mode is energy recovery mode, to ensure passenger comfort and reduce "jerkiness," the energy recovery mode can be maintained. When the historical energy usage mode is energy supply mode, it is necessary to further determine whether continued energy supply is still needed. In this embodiment, this can be determined based on the current acceleration value. When determining whether to perform energy recovery, to avoid frequent switching between energy supply and energy recovery modes, a preset error threshold can be set. Based on the historical energy usage mode being energy supply mode, if the current acceleration is greater than a second preset acceleration threshold, the system switches to energy recovery mode, where the second preset acceleration threshold is the sum of a first preset acceleration threshold and a preset error threshold. By setting a preset error threshold, the phenomenon of switching energy usage modes whenever the current acceleration is greater than or less than the first preset acceleration threshold is avoided, thus reducing the "jerkiness" of the target vehicle and improving the passenger comfort to a certain extent.

[0041] like Figure 2 The diagram shown is a flowchart for determining the energy usage mode according to an embodiment of this disclosure. After obtaining the trend of changes in the operating state, if the current driving mode is manual driving mode, then the energy supply mode is used when the current operating speed is greater than the preset speed, and the energy recovery mode is used when the current operating speed is less than the preset speed.

[0042] If the current driving mode is automatic driving mode, it is further divided into continuous automatic driving and non-continuous automatic driving. In non-continuous automatic driving mode (where the historical driving mode was automatic driving mode), it is determined again whether the historical energy usage mode was energy recovery mode. If it was energy recovery mode, the current energy usage mode is set to energy recovery mode; if it was energy supply mode, the current energy usage mode is set to energy supply mode when the current acceleration is greater than a second preset threshold, and to energy recovery mode when the current acceleration is less than the second preset threshold. In continuous automatic driving mode (where the historical driving mode was manual driving mode), it is determined again whether the historical energy usage mode was energy recovery mode. If it was energy recovery mode, the energy recovery mode is set when the detected change in operating speed meets a preset speed condition, and to energy supply mode when the detected change in operating speed does not meet the preset speed condition.

[0043] In step S13, if the energy usage mode is energy recovery mode, the energy recovery parameters are determined according to the trend of the operating status change, so as to perform energy recovery according to the energy recovery parameters.

[0044] For example, when the energy usage mode is determined to be energy recovery mode, to ensure a large degree of energy recovery and avoid unnecessary energy waste, energy recovery parameters can be determined based on the trend of operating status changes. This trend can be the change between the expected operating status and the current operating status. The expected operating status can be obtained based on the motion plan corresponding to the target vehicle. The motion plan includes the position, speed, and acceleration at each time point within a preset time period, with the time interval between two adjacent time points constituting a calculation cycle. In this embodiment, "current," "historical," and "expected" all refer to time points within the preset time period.

[0045] In some embodiments, the historical operating state may include the operating state of at least one time point before the current time point, and the expected operating state may also include the operating state of at least one time point after the current time point. This disclosure does not limit the number of corresponding time points in the historical operating state and the expected operating state; those skilled in the art can determine this based on the actual situation.

[0046] During implementation, energy recovery can be determined based on the difference between the current operating state and the expected operating state. For example, if acceleration is required when the current operating state reaches the expected operating state, energy supply is needed and energy recovery is not performed. If deceleration is required when the current operating state reaches the expected operating state, energy recovery is required.

[0047] In some embodiments, the predicted change trend includes position change, velocity change, and acceleration change. Determining energy recovery parameters based on the operating state change trend includes: determining a target energy recovery amount based on the relationship between position change, velocity change, acceleration change, and energy recovery quantity; determining a target negative torque and a target hydraulic torque based on the target energy recovery amount and a preset energy recovery amount threshold; and using the target negative torque and target hydraulic torque as energy recovery parameters.

[0048] For example, before energy recovery, the ideal amount of energy to be recovered, i.e., the target energy recovery amount, can be calculated in advance. In this embodiment of the disclosure, it can be determined by the amount of change in position, velocity, and acceleration required to change the current operating state to the expected operating state.

[0049] When a vehicle performs energy recovery, it can do so through negative torque and hydraulic torque. In negative torque energy recovery, the motor acts as a generator, reversing the magnetic field to absorb the kinetic energy of the wheels and convert it into electrical energy. In hydraulic torque energy recovery, braking is achieved through brake pads. However, related technologies typically use brake pads or fixed-parameter negative torque for energy recovery, making it impossible to adjust energy recovery based on a target amount.

[0050] In this embodiment of the disclosure, the energy recovery parameters are dynamically determined based on the target energy recovery amount, so as to dynamically adjust the ratio of negative torque and hydraulic torque, and to achieve a greater degree of energy recovery on the basis of braking.

[0051] In some embodiments, the preset energy recovery threshold represents the maximum energy threshold at which negative torque can be recovered. Therefore, during energy recovery, to ensure a greater degree of energy recovery, if the target energy recovery amount is greater than the preset energy recovery threshold, the negative torque corresponding to the preset energy recovery threshold is taken as the target negative torque, and the hydraulic torque corresponding to the difference is taken as the target hydraulic torque; the difference refers to the difference between the target energy recovery amount and the preset energy recovery threshold; if the target energy recovery amount is less than or equal to the preset energy recovery threshold, the target negative torque corresponding to the target energy recovery amount is determined according to the mapping relationship between the target energy recovery amount and the negative torque, and the target hydraulic torque is set to zero.

[0052] For example, when the target energy recovery amount is less than a preset energy recovery threshold, there is a corresponding relationship between the negative torque and the energy recovery amount. This relationship can be linear or non-linear, meaning that the target negative torque can be determined based on the target energy recovery amount and this corresponding relationship, and the negative torque is set as the target negative torque for energy recovery. When the target energy recovery amount is less than the preset energy recovery threshold, the hydraulic torque and the negative torque need to work together. To improve energy recovery efficiency, ideally, the negative torque needs to achieve the maximum energy recovery. That is, the negative torque setting needs to recover the recovery amount corresponding to the preset energy recovery threshold, and the negative torque is set as the target negative torque corresponding to the preset energy recovery threshold. The difference between the target energy recovery amount and the preset energy recovery threshold is supplemented by the hydraulic torque. Similarly, there is a mapping relationship between the recovery amount and the hydraulic torque to determine the target hydraulic torque for the response.

[0053] In some embodiments, if the negative torque is set too high, a situation may occur where the motor locks up. This is similar to a vehicle lock-up, where the wheels lock up and the anti-lock braking system (ABS) light illuminates. To avoid this, when the ABS signal of the target vehicle is detected, if... Figure 3As shown, the negative torque can be gradually reduced with a certain slope or a certain trend of change, while the hydraulic torque is increased to ensure braking and improve the safe operation of the vehicle.

[0054] like Figure 4A The diagram shows the relationship between negative torque and hydraulic torque, as follows: Figure 4B The figure shows the relationship between the acceleration corresponding to negative torque (here, acceleration is negative and can also be called deceleration) and the deceleration corresponding to hydraulic torque. Figure 4A In the process of energy recovery, the total torque remains unchanged, while the negative torque and hydraulic torque are adjusted according to the strategy inflection point at a certain ratio. The strategy inflection point can be triggered by the ABS signal, etc. Figure 4B In the process of energy recovery, the total deceleration remains constant. The deceleration corresponding to the negative torque and the deceleration corresponding to the hydraulic torque change at a certain ratio according to the strategy inflection point, where the strategy inflection point can be triggered by the ABS signal, etc.

[0055] In summary, the embodiments of this disclosure obtain the operating status change trend of the target vehicle, wherein the operating status change trend includes the degree of change from the historical operating status to the current operating status; therefore, the energy usage pattern determined based on the operating status change trend, combined with the energy usage pattern determined from the historical operating status to the current operating status of the target vehicle, improves the triggering accuracy of energy recovery to a certain extent; furthermore, if the energy usage mode is an energy recovery mode, the energy recovery parameters are determined based on the operating status change trend, so as to perform energy recovery based on the energy recovery parameters; the energy recovery parameters are dynamically determined based on the operating status change trend, making the energy recovery parameters more flexible, thereby improving energy recovery efficiency and reducing energy waste to a certain extent.

[0056] correspond Figure 1 The illustrated energy recovery method, in this disclosure embodiment also provides an energy recovery device, such as... Figure 5 As shown, the device includes: The acquisition module 501 is used to acquire the operating status change trend of the target vehicle; the operating status change trend includes the degree of change from the historical operating status to the current operating status; The module 502 is used to determine the energy usage mode based on the trend of the change in the operating status. The parameter determination module 503 is used to determine energy recovery parameters based on the trend of the operating state change if the energy usage mode is energy recovery mode, so as to perform energy recovery based on the energy recovery parameters.

[0057] The energy recovery device and the energy recovery method provided in the above embodiments of this disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.

[0058] This disclosure also provides an electronic device for performing the above-described energy recovery method. Please refer to... Figure 6 This illustrates a schematic diagram of an electronic device provided by some embodiments of the present disclosure. For example... Figure 6 As shown, the electronic device 6 includes: a processor 600, a memory 601, a bus 602, and a communication interface 603. The processor 600, the communication interface 603, and the memory 601 are connected via the bus 602. The memory 601 stores a computer program that can run on the processor 600. When the processor 600 runs the computer program, it executes the energy recovery method provided in any of the foregoing embodiments of this disclosure.

[0059] The memory 601 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between the virtual devices in the system is achieved through at least one communication interface 603 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network.

[0060] Bus 602 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 601 is used to store programs. After receiving an execution instruction, the processor 600 executes the program. The energy recovery method disclosed in any of the foregoing embodiments of this disclosure can be applied to the processor 600, or implemented by the processor 600.

[0061] The processor 600 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 600 or by instructions in software form. The processor 600 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 601. Processor 600 reads the contents of memory 601 and, in conjunction with its hardware, completes the steps of the above method.

[0062] The electronic device provided in this disclosure and the energy recovery method provided in this disclosure are based on the same inventive concept and have the same beneficial effects as the methods they employ, operate, or implement.

[0063] This disclosure also provides a computer-readable storage medium corresponding to the energy recovery method provided in the foregoing embodiments. Please refer to... Figure 7 The computer-readable storage medium shown is an optical disc 30, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it executes the energy recovery method provided in any of the foregoing embodiments.

[0064] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here.

[0065] The computer-readable storage medium provided in the above embodiments of this disclosure and the energy recovery method provided in the embodiments of this disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.

[0066] Although alternative embodiments of this disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make further changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this disclosure.

[0067] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this disclosure. It should be understood that the above description is only a specific embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this disclosure should be included within the scope of protection of this invention.

Claims

1. An energy recovery method, characterized in that, The method includes: Acquire the trend of the target vehicle's operating status; the trend of the operating status includes the degree of change from the historical operating status to the current operating status; The energy usage pattern is determined based on the trend of the change in the operating status. If the energy usage mode is an energy recovery mode, the energy recovery parameters are determined based on the trend of the operating status change, and energy recovery is performed according to the energy recovery parameters.

2. The method according to claim 1, characterized in that, The historical operating status includes historical operating speed, historical energy usage mode, and historical driving mode; the current operating status includes current operating speed and current driving mode. Determining the energy usage pattern based on the aforementioned operating status change trend includes: If the current driving mode is automatic driving mode, then the current energy usage mode is determined based on the historical driving mode, historical energy usage mode, and operating speed change; wherein the operating speed change refers to the speed difference between the current operating speed and the historical operating speed. If the current driving mode is manual driving mode, then the energy recovery mode is set according to the relationship between the current operating speed and the preset speed threshold.

3. The method according to claim 2, characterized in that, The process of determining the current energy usage mode based on the historical driving mode, historical energy usage mode, and changes in operating speed includes: If the historical driving mode is an automatic driving mode, the current energy usage mode is set according to the historical energy usage mode and the change in operating speed; If the historical driving mode is manual driving mode, the current energy usage mode is set according to the historical energy usage mode.

4. The method according to claim 3, characterized in that, The historical operating speed also includes historical acceleration, and the current operating speed includes current acceleration; setting the current energy usage mode based on the historical energy usage pattern and the change in operating speed includes: If the historical energy usage mode is the energy recovery mode, detect whether the change in operating speed meets the preset speed condition; if the change in operating speed meets the preset speed condition, keep the current energy usage mode as the energy recovery mode; if the change in operating speed does not meet the preset speed condition, set the current energy usage mode to the energy supply mode and set the acceleration mode. If the historical energy usage mode is the energy supply mode, and the current acceleration is greater than the first preset acceleration threshold, then the current energy usage mode is kept as the energy supply mode.

5. The method according to claim 4, characterized in that, The step of setting the current energy usage mode based on the historical energy usage pattern includes: If the historical energy usage mode is an energy recovery mode, then the current energy usage mode is kept as the energy recovery mode; If the historical energy usage mode is an energy supply mode, the relationship between the current acceleration and the second preset acceleration threshold is detected; wherein, the second preset acceleration threshold is the sum of the first preset acceleration threshold and the preset error threshold; If the current acceleration is greater than the second preset acceleration threshold, the current energy usage mode is set to the energy supply mode; If the current acceleration is less than or equal to the second preset acceleration threshold, then the current energy usage mode is set to the energy recovery mode.

6. The method according to any one of claims 1-5, characterized in that, The operational status change trend also includes the predicted change trend between the current operational status and the predicted operational status. The predicted change trend includes changes in position, velocity, and acceleration. Determining energy recovery parameters based on the operational status change trend includes: The target energy recovery amount is determined based on the relationship between the changes in position, velocity, and acceleration and the energy recovery amount. Based on the target energy recovery amount and the preset energy recovery amount threshold, the target negative torque and the target hydraulic torque are determined; the target negative torque and the target hydraulic torque are used as the energy recovery parameters.

7. The method according to claim 6, characterized in that, The step of determining the target negative torque and the target hydraulic torque based on the target energy recovery amount and the preset energy recovery amount threshold includes: If the target energy recovery amount is greater than the preset energy recovery amount threshold, then the negative torque corresponding to the preset energy recovery amount threshold is taken as the target negative torque, and the hydraulic torque corresponding to the difference is taken as the target hydraulic torque; the difference refers to the difference between the target energy recovery amount and the preset energy recovery amount threshold. If the target energy recovery amount is less than or equal to a preset energy recovery amount threshold, then based on the mapping relationship between the target energy recovery amount and the negative torque, the target negative torque corresponding to the target energy recovery amount is determined, and the target hydraulic torque is set to zero.

8. An energy recovery device, characterized in that, The device includes: The acquisition module is used to acquire the operating status change trend of the target vehicle; the operating status change trend includes the degree of change from the historical operating status to the current operating status; The module is used to determine the energy usage pattern based on the trend of the operating status change. The parameter determination module is used to determine energy recovery parameters based on the trend of the operating state if the energy usage mode is energy recovery mode, so as to perform energy recovery based on the energy recovery parameters.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method of any one of claims 1 to 7.

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