Vehicle deceleration control method and system based on sliding energy recovery and electronic equipment

Abstract

The invention discloses a vehicle deceleration control method and system based on sliding energy recovery and electronic equipment, and the method comprises the steps: calculating a regenerative braking torque and a mechanical braking torque through a vehicle control unit according to the real-time state of a vehicle and an energy recovery strategy, and controlling the vehicle to carry out sliding energy recovery according to the regenerative braking torque and the mechanical braking torque; a target whole vehicle deceleration is calculated through a whole vehicle controller according to the regenerative braking torque and the mechanical braking torque, and the actual whole vehicle deceleration of the vehicle is obtained through an inertial sensor; and determining an unexpected deceleration according to the target vehicle deceleration and the actual vehicle deceleration, and performing emergency response control on the vehicle according to the unexpected deceleration. The vehicle sliding safety is improved, and the method can be applied to the technical field of vehicle control.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle deceleration control method, system, and electronic device based on coasting energy recovery. Background Technology

[0002] Currently, the functional safety monitoring scheme for electric vehicle coasting energy recovery systems mainly compares the calculated actual output torque of the motor with the torque request command from the vehicle control unit (VCU). When the deviation between the actual output torque and the torque request command exceeds the unexpected torque threshold, the electric drive system is controlled to enter an active short-circuit or shutdown state. This avoids dangerous events such as unexpected acceleration or deceleration caused by the inconsistency between the actual output torque of the motor and the torque request command, achieving ASIL C and higher levels of functional safety system development. However, the current functional safety monitoring scheme relies on the accuracy of the actual output torque value of the motor. If the motor is not functionally safe, and the ASIL level of the actual output torque signal is only QM, the reliability of the actual executed torque value cannot be guaranteed. This can lead to VCU misjudgment and failure to identify motor faults, resulting in unexpected acceleration or deceleration of the vehicle and causing serious harm.

[0003] The above problems urgently need to be addressed. Summary of the Invention

[0004] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0005] Therefore, one objective of this invention is to provide a vehicle deceleration control method based on coasting energy recovery, which improves the safety of vehicle coasting.

[0006] Another objective of this invention is to provide a vehicle deceleration control system based on coasting energy recovery.

[0007] To achieve the above-mentioned technical objectives, the technical solutions adopted in the embodiments of the present invention include: On one hand, embodiments of the present invention provide a vehicle deceleration control method based on coasting energy recovery, comprising the following steps: The vehicle controller calculates the regenerative braking torque and mechanical braking torque based on the vehicle's real-time status and energy recovery strategy, and controls the vehicle to perform coasting energy recovery based on the regenerative braking torque and the mechanical braking torque. The vehicle controller calculates the target vehicle deceleration based on the regenerative braking torque and the mechanical braking torque, and obtains the actual vehicle deceleration through an inertial sensor. An unexpected deceleration is determined based on the target vehicle deceleration and the actual vehicle deceleration, and emergency response control is applied to the vehicle based on the unexpected deceleration.

[0008] Furthermore, in one embodiment of the present invention, the calculation of regenerative braking torque and mechanical braking torque based on the vehicle's real-time state and energy recovery strategy specifically includes: Obtain the corresponding torque-vehicle speed mapping table based on the current driving mode; The coasting feedback torque is obtained by querying the torque-vehicle speed mapping table based on the real-time vehicle speed. The maximum regenerative torque of the motor is determined based on the current speed of the motor; The maximum received power of the battery is determined based on the real-time battery status, and the corresponding maximum available torque is determined based on the maximum received power of the battery. Determine the target braking torque based on real-time braking requirements; The regenerative braking torque is determined based on the minimum value of the coasting feedback torque, the maximum regenerative torque, the maximum available torque, and the target braking torque; The mechanical braking torque is determined based on the difference between the target braking torque and the regenerative braking torque.

[0009] Furthermore, in one embodiment of the present invention, the step of calculating the target vehicle deceleration based on the regenerative braking torque and the mechanical braking torque specifically includes: The transmission system efficiency, reducer ratio, and effective wheel rolling radius of the vehicle are obtained. The target braking force is calculated based on the transmission system efficiency, the reducer transmission ratio, the effective rolling radius of the wheel, the regenerative braking torque, and the mechanical braking torque. The target vehicle deceleration is calculated based on the target braking force and the vehicle's effective mass.

[0010] Furthermore, in one embodiment of the present invention, the step of determining the unexpected deceleration based on the target vehicle deceleration and the actual vehicle deceleration, and performing emergency response control on the vehicle based on the unexpected deceleration, specifically includes: The unexpected deceleration is determined based on the absolute difference between the target vehicle deceleration and the actual vehicle deceleration; When the unexpected deceleration is greater than or equal to a preset first threshold and less than a preset second threshold, the regenerative braking torque is reduced, the mechanical braking torque is increased, and a warning message is issued. When the unexpected deceleration is greater than or equal to the second threshold and less than the preset third threshold, the energy recovery mode is exited and the mechanical braking mode is switched. When the unexpected deceleration exceeds the third threshold, the vehicle is powered off by a high voltage and emergency braking is initiated via the electronic stability system.

[0011] On the other hand, embodiments of the present invention provide a vehicle deceleration control system based on coasting energy recovery, comprising: The braking torque calculation module is used to calculate the regenerative braking torque and mechanical braking torque according to the real-time vehicle status and energy recovery strategy through the vehicle controller, and to control the vehicle to perform coasting energy recovery according to the regenerative braking torque and the mechanical braking torque. The deceleration determination module is used to calculate the target vehicle deceleration based on the regenerative braking torque and the mechanical braking torque through the vehicle controller, and to obtain the actual vehicle deceleration through an inertial sensor. The response control module is used to determine the unexpected deceleration based on the target vehicle deceleration and the actual vehicle deceleration, and to perform emergency response control on the vehicle based on the unexpected deceleration.

[0012] Furthermore, in one embodiment of the present invention, the braking torque calculation module includes: The first unit is used to obtain the corresponding torque-vehicle speed mapping table based on the current driving mode; The second unit is used to query the torque-vehicle speed mapping table based on the real-time vehicle speed to obtain the coasting feedback torque. The third unit is used to determine the maximum regenerative torque of the motor based on the current speed of the motor. The fourth unit is used to determine the maximum received power of the battery based on the real-time battery status, and to determine the corresponding maximum available torque based on the maximum received power of the battery. The fifth unit is used to determine the target braking torque based on real-time braking requirements; The sixth unit is used to determine the regenerative braking torque based on the minimum value of the coasting feedback torque, the maximum regenerative torque, the maximum available torque, and the target braking torque; The seventh unit is used to determine the mechanical braking torque based on the difference between the target braking torque and the regenerative braking torque.

[0013] Furthermore, in one embodiment of the present invention, the deceleration determination module includes: The eighth unit is used to obtain the transmission system efficiency, reducer ratio, and effective wheel rolling radius of the vehicle. The ninth unit is used to calculate the target braking force based on the transmission system efficiency, the reducer transmission ratio, the effective rolling radius of the wheel, the regenerative braking torque, and the mechanical braking torque. The tenth unit is used to calculate the target vehicle deceleration based on the target braking force and the effective mass of the vehicle.

[0014] On the other hand, embodiments of the present invention provide an electronic device, which includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for enabling communication between the processor and the memory. When the program is executed by the processor, it implements the vehicle deceleration control method based on coasting energy recovery as described above.

[0015] On the other hand, embodiments of the present invention also provide a vehicle, the vehicle including a vehicle deceleration control system or electronic device based on coasting energy recovery as described above.

[0016] On the other hand, embodiments of the present invention also provide a storage medium, which is a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, which can be executed by one or more processors to implement the vehicle deceleration control method based on coasting energy recovery as described above.

[0017] On the other hand, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the vehicle deceleration control method based on coasting energy recovery as described above.

[0018] The advantages and beneficial effects of the present invention 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 the invention: This invention, in its embodiments, calculates regenerative braking torque and mechanical braking torque based on the vehicle's real-time status and energy recovery strategy using a vehicle controller. It then controls the vehicle to perform coasting energy recovery based on these torques. The vehicle controller calculates the target vehicle deceleration using these torques and obtains the actual vehicle deceleration using an inertial sensor. Based on the target and actual vehicle decelerations, it determines unexpected decelerations and implements emergency response control for the vehicle in response to excessively large unexpected decelerations, thus improving the safety of vehicle coasting. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments of the present invention are described below. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating the steps of a vehicle deceleration control method based on coasting energy recovery provided in an embodiment of the present invention; Figure 2 A schematic diagram of the vehicle deceleration control system based on coasting energy recovery provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0021] The embodiments of the present invention are described in detail below. Examples of these 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 are only used to explain this application, and should not be construed as limiting this application. It should be noted that although functional modules are divided in the system schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system schematic diagram or the order in the flowchart. The step numbers in the following embodiments are only set for ease of explanation and do not limit the order between steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0022] In the description of this invention, "multiple" means two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, the number of indicated technical features, or the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0023] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards of the relevant countries and regions. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirects to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data for the proper functioning of the embodiments of this application obtained.

[0024] When existing vehicles are in coasting energy recovery mode, the reliability of the actual torque value executed by the motor cannot be verified during drive torque monitoring. Unexpected deceleration may occur, resulting in insufficient safe distance when following other vehicles, which may lead to rear-end collision risk.

[0025] like Figure 1 The diagram shown is a flowchart of a vehicle deceleration control method based on coasting energy recovery provided in an embodiment of the present invention. (Refer to...) Figure 1 This invention provides a vehicle deceleration control method based on coasting energy recovery, specifically including the following steps: S101. The vehicle controller calculates the regenerative braking torque and mechanical braking torque based on the real-time vehicle status and energy recovery strategy, and controls the vehicle to perform coasting energy recovery based on the regenerative braking torque and mechanical braking torque. S102. The target vehicle deceleration is calculated by the vehicle controller based on the regenerative braking torque and the mechanical braking torque, and the actual vehicle deceleration is obtained by the inertial sensor. S103. Determine the unexpected deceleration based on the target vehicle deceleration and the actual vehicle deceleration, and implement emergency response control for the vehicle based on the unexpected deceleration.

[0026] This invention aims to provide a vehicle deceleration control method based on coasting energy recovery, ensuring that the vehicle can drive normally and recover coasting energy. Specifically, during coasting, the vehicle control unit (VCU) calculates the expected target deceleration value that the vehicle should achieve theoretically and compares it with the actual vehicle deceleration obtained from the IMU (induction unit, longitudinal accelerometer). It then determines whether the deviation between the two values ​​exceeds the set functional safety monitoring threshold. If an unexpected large deceleration occurs, the VCU will adopt a degraded mode, such as cutting off the power system. At the same time, it will perform gradient fault response based on the unexpected deceleration threshold generated at different vehicle speeds.

[0027] It can be recognized that the embodiments of the present invention calculate the target vehicle deceleration and obtain the actual vehicle deceleration when the vehicle is performing coasting energy recovery, thereby determining the unexpected deceleration and performing emergency response control on the vehicle when the unexpected deceleration is too large, thus improving the safety of vehicle coasting.

[0028] As a further optional implementation, the regenerative braking torque and mechanical braking torque are calculated based on the vehicle's real-time status and energy recovery strategy, specifically including: S201. Obtain the corresponding torque-vehicle speed mapping table based on the current driving mode; S202. Query the torque-vehicle speed mapping table based on the real-time vehicle speed to obtain the coasting feedback torque; S203. Determine the maximum regenerative torque of the motor based on its current speed. S204. Determine the maximum received power of the battery based on the real-time battery status, and determine the corresponding maximum available torque based on the maximum received power of the battery. S205. Determine the target braking torque based on real-time braking requirements; S206. Determine the regenerative braking torque based on the minimum value of the coasting feedback torque, the maximum regenerative torque, the maximum available torque, and the target braking torque. S207. Determine the mechanical braking torque based on the difference between the target braking torque and the regenerative braking torque.

[0029] Driving Mode and Torque-Speed ​​Map (Basic Settings): Driving modes (such as Eco / Sport) alter regenerative braking characteristics. The map defines the theoretical coasting feedback torque at different vehicle speeds. For example, Eco mode may prioritize high feedback torque for fuel economy, while Sport mode reduces feedback to avoid jerking.

[0030] Vehicle speed query and motor capacity constraint (dynamic calculation): The real-time vehicle speed query mapping table obtains the "coasting feedback torque", which reflects the ideal operating condition value; the "maximum feedback torque" is determined according to the motor speed to ensure that it does not exceed the physical limits of the motor (such as the peak torque decreasing with the speed).

[0031] Battery state constraints (energy receiving limit): The battery's maximum receiving power (determined by real-time states such as SOC, temperature, and SOH) is converted into "maximum usable torque" to ensure that regenerated energy does not exceed the battery's charging limit. For example, this torque is limited when the battery is fully charged (SOC > 95%) or at low temperatures.

[0032] Braking demand and target torque (driver intent): Real-time braking demand (from the pedal sensor) directly generates the "target braking torque," representing the total braking force desired by the driver. Regenerative braking only handles a portion of the demand (the remainder is supplemented by mechanical braking).

[0033] Minimum value decision and regenerative braking torque output (comprehensive arbitration): The minimum value of the four factors (coasting feedback torque, maximum regenerative torque, maximum available torque, and target braking torque) is taken as the final regenerative braking torque. Simultaneously, the difference between the target braking torque and the regenerative braking torque is the mechanical braking torque.

[0034] As a further optional implementation, the target vehicle deceleration is calculated based on the regenerative braking torque and the mechanical braking torque, specifically including: S301. Obtain the vehicle's transmission system efficiency, reducer ratio, and effective wheel rolling radius; S302. Calculate the target braking force based on the transmission system efficiency, reducer transmission ratio, effective rolling radius of the wheel, regenerative braking torque, and mechanical braking torque. S303. The target vehicle deceleration is calculated based on the target braking force and the effective mass of the vehicle.

[0035] Calculating the target vehicle deceleration requires obtaining three key vehicle parameters, which are typically obtained through sensors, vehicle databases, or design specifications: Transmission system efficiency (η): Represents the efficiency of torque transmission from the power source (such as an electric motor or engine) to the wheels, taking into account mechanical losses (such as gear friction). It is a dimensionless coefficient ranging from 0 to 1 (e.g., η = 0.95 represents 95% efficiency).

[0036] Gearbox transmission ratio (i): Defined as the ratio of input shaft torque to output shaft torque (i=T_input / T_output), used to amplify or reduce torque. For example, i=5 means that the input torque is amplified 5 times and output to the wheels.

[0037] Effective rolling radius (r): refers to the vertical distance from the center of the wheel to the ground, affecting the conversion of torque into force. The unit is meters (m), and it is usually calculated based on wheel size and load (e.g., r = 0.3m for a passenger car).

[0038] These parameters form the basis for subsequent calculations. In real-world systems, they may be updated in real time (e.g., via onboard sensors), but are treated as known inputs in this process.

[0039] Calculate the target braking force. Target braking force ( The total braking force acting on the wheels is composed of regenerative braking torque ( ) and mechanical braking torque ( The calculation is derived by combining transmission parameters. The calculation formula is based on the principle of torque to force conversion (F=T / r), and takes into account the transmission efficiency (η) and the reducer transmission ratio (i): First, the total input torque ( It is the sum of regenerative braking torque and mechanical braking torque:

[0040] Then, the input torque is converted into wheel torque by applying the reduction gear ratio (i):

[0041] In this context, η compensates for transmission losses.

[0042] Finally, the torque is converted into force using the wheel's effective rolling radius (r):

[0043] The target vehicle deceleration (a) is the overall deceleration rate of the vehicle, based on the target braking force ( The formula is derived from Newton's second law (F=m×a), but uses the effective mass (not the static mass) to account for the inertial effects of rotating components (such as the moment of inertia of wheels and transmission systems).

[0044] As a further optional implementation, an unexpected deceleration is determined based on the target vehicle deceleration and the actual vehicle deceleration, and emergency response control of the vehicle is performed based on the unexpected deceleration, specifically including: S401. Determine the unexpected deceleration based on the absolute difference between the target vehicle deceleration and the actual vehicle deceleration; S402. When the unexpected deceleration is greater than or equal to a preset first threshold and less than a preset second threshold, reduce the regenerative braking torque, increase the mechanical braking torque, and issue a warning message. S403. When the unexpected deceleration is greater than or equal to the second threshold and less than the preset third threshold, exit the energy recovery mode and switch to the mechanical braking mode. S404. When the unexpected deceleration exceeds the third threshold, the vehicle is powered off by high voltage and emergency braking is initiated through the electronic stability system.

[0045] In the technical solution of this invention, when the vehicle performs coasting energy recovery, the vehicle controller (VCU) calculates the expected vehicle deceleration value based on signals such as regenerative braking torque and mechanical braking torque, and receives the actual vehicle deceleration transmitted from the IMU to the vehicle controller (VCU). The VCU continuously arbitrates the deviation between the two values ​​within one cycle. If the deviation is too large and remains at that value within the cycle, it is considered that the vehicle has actually generated an unexpected deceleration, and then a fault gradient response is performed to bring the vehicle into a safe state.

[0046] In some optional embodiments, when the unexpected deceleration of the vehicle is less than 0.2g, it will only endanger the safety target of SIL A level. Therefore, the safety state that the vehicle needs to enter is to limit the regenerative torque request value and remind the driver. When the unexpected deceleration of the vehicle is greater than or equal to 0.2g but less than 0.5g, the vehicle is controlled to exit the energy recovery mode and switch to the mechanical braking mode. When the unexpected acceleration of the vehicle is greater than or equal to 0.5g, the vehicle is powered off with high voltage and emergency braking is performed through the electronic stability system.

[0047] It can be recognized that the embodiments of the present invention avoid the risk of errors in the actual torque request executed by the motor and a large deviation from the requested torque value, and realize end-to-end closed-loop monitoring of the coasting energy recovery function, thereby solving the problem of unexpected vehicle deceleration behavior caused by abnormal regenerative braking force.

[0048] The method steps of the embodiments of the present invention have been described above. It is understood that the embodiments of the present invention calculate the target vehicle deceleration and obtain the actual vehicle deceleration when the vehicle is recovering coasting energy, thereby determining the unexpected deceleration. When the unexpected deceleration is too large, emergency response control is performed on the vehicle, improving the safety of vehicle coasting.

[0049] like Figure 2 The diagram shown is a structural schematic of a vehicle deceleration control system based on coasting energy recovery provided in an embodiment of the present invention. (Refer to...) Figure 2 This invention provides a vehicle deceleration control system based on coasting energy recovery, comprising: The braking torque calculation module is used to calculate the regenerative braking torque and mechanical braking torque based on the real-time vehicle status and energy recovery strategy through the vehicle controller, and to control the vehicle to perform coasting energy recovery based on the regenerative braking torque and mechanical braking torque. The deceleration determination module is used to calculate the target vehicle deceleration based on the regenerative braking torque and mechanical braking torque through the vehicle controller, and to obtain the actual vehicle deceleration through inertial sensors. The response control module is used to determine the unexpected deceleration based on the target vehicle deceleration and the actual vehicle deceleration, and to perform emergency response control on the vehicle based on the unexpected deceleration.

[0050] As a further optional implementation, the braking torque calculation module includes: The first unit is used to obtain the corresponding torque-vehicle speed mapping table based on the current driving mode; The second unit is used to query the torque-vehicle speed mapping table based on the real-time vehicle speed to obtain the coasting feedback torque; The third unit is used to determine the maximum regenerative torque of the motor based on the current speed of the motor. The fourth unit is used to determine the maximum received power of the battery based on the real-time battery status, and to determine the corresponding maximum available torque based on the maximum received power of the battery. The fifth unit is used to determine the target braking torque based on real-time braking requirements; The sixth unit is used to determine the regenerative braking torque based on the minimum value of the coasting feedback torque, the maximum regenerative torque, the maximum available torque, and the target braking torque. The seventh unit is used to determine the mechanical braking torque based on the difference between the target braking torque and the regenerative braking torque.

[0051] As a further optional implementation, the deceleration determination module includes: The eighth unit is used to obtain the vehicle's transmission system efficiency, reducer ratio, and effective wheel rolling radius; The ninth unit is used to calculate the target braking force based on the transmission system efficiency, reducer transmission ratio, effective wheel rolling radius, regenerative braking torque, and mechanical braking torque. Unit 10 is used to calculate the target vehicle deceleration based on the target braking force and the vehicle's effective mass.

[0052] It is understood that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0053] This invention also provides an electronic device, comprising: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for communication between the processor and the memory. When the program is executed by the processor, it implements the aforementioned vehicle deceleration control method based on coasting energy recovery. This electronic device can be any smart terminal, including a tablet computer or an in-vehicle computer.

[0054] like Figure 3 The diagram shown is a hardware structure schematic of an electronic device provided in an embodiment of the present invention. (Refer to...) Figure 3 This invention provides an electronic device, comprising: The processor 301 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention. The memory 302 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 302 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 302 and is called and executed by the processor 301 to execute the vehicle deceleration control method based on coasting energy recovery of the embodiments of this invention. Input / output interface 303 is used to implement information input and output; The communication interface 304 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 305 transmits information between various components of the device (e.g., processor 301, memory 302, input / output interface 303, and communication interface 304); The processor 301, memory 302, input / output interface 303, and communication interface 304 are connected to each other within the device via bus 305.

[0055] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0056] This invention also provides a vehicle that includes the electric drive assembly of the vehicle deceleration control system or electronic device based on coasting energy recovery described above.

[0057] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle must have an electric motor capable of outputting power or acting as a generator to store mechanical energy. When the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0058] Since the vehicle applies all the technical solutions of the above-mentioned vehicle deceleration control system or electronic equipment based on coasting energy recovery, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0059] This invention also provides a storage medium, which is a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, which can be executed by one or more processors to implement the above-described vehicle deceleration control method based on coasting energy recovery.

[0060] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0061] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0062] This invention also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform... Figure 1 The method shown.

[0063] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0064] The embodiments described in this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0065] The terms "first," "second," "third," "fourth," etc. (if present) in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0066] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0067] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0068] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0069] 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 embodied 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-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "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.

[0070] 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 the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0071] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in 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.

[0072] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, 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.

[0073] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0074] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A vehicle deceleration control method based on coasting energy recovery, characterized in that, Includes the following steps: The vehicle controller calculates the regenerative braking torque and mechanical braking torque based on the vehicle's real-time status and energy recovery strategy, and controls the vehicle to perform coasting energy recovery based on the regenerative braking torque and the mechanical braking torque. The vehicle controller calculates the target vehicle deceleration based on the regenerative braking torque and the mechanical braking torque, and obtains the actual vehicle deceleration through an inertial sensor. An unexpected deceleration is determined based on the target vehicle deceleration and the actual vehicle deceleration, and emergency response control is applied to the vehicle based on the unexpected deceleration.

2. The vehicle deceleration control method based on coasting energy recovery according to claim 1, characterized in that, The calculation of regenerative braking torque and mechanical braking torque based on the vehicle's real-time status and energy recovery strategy specifically includes: Obtain the corresponding torque-vehicle speed mapping table based on the current driving mode; The coasting feedback torque is obtained by querying the torque-vehicle speed mapping table based on the real-time vehicle speed. The maximum regenerative torque of the motor is determined based on the current speed of the motor; The maximum received power of the battery is determined based on the real-time battery status, and the corresponding maximum available torque is determined based on the maximum received power of the battery. Determine the target braking torque based on real-time braking requirements; The regenerative braking torque is determined based on the minimum value of the coasting feedback torque, the maximum regenerative torque, the maximum available torque, and the target braking torque; The mechanical braking torque is determined based on the difference between the target braking torque and the regenerative braking torque.

3. The vehicle deceleration control method based on coasting energy recovery according to claim 1, characterized in that, The calculation of the target vehicle deceleration based on the regenerative braking torque and the mechanical braking torque specifically includes: The transmission system efficiency, reducer ratio, and effective wheel rolling radius of the vehicle are obtained. The target braking force is calculated based on the transmission system efficiency, the reducer transmission ratio, the effective rolling radius of the wheel, the regenerative braking torque, and the mechanical braking torque. The target vehicle deceleration is calculated based on the target braking force and the vehicle's effective mass.

4. The vehicle deceleration control method based on coasting energy recovery according to claim 1, characterized in that, The step of determining the unexpected deceleration based on the target vehicle deceleration and the actual vehicle deceleration, and performing emergency response control on the vehicle based on the unexpected deceleration, specifically includes: The unexpected deceleration is determined based on the absolute difference between the target vehicle deceleration and the actual vehicle deceleration; When the unexpected deceleration is greater than or equal to a preset first threshold and less than a preset second threshold, the regenerative braking torque is reduced, the mechanical braking torque is increased, and a warning message is issued. When the unexpected deceleration is greater than or equal to the second threshold and less than the preset third threshold, the energy recovery mode is exited and the mechanical braking mode is switched. When the unexpected deceleration exceeds the third threshold, the vehicle is powered off by a high voltage and emergency braking is initiated via the electronic stability system.

5. A vehicle deceleration control system based on coasting energy recovery, characterized in that, include: The braking torque calculation module is used to calculate the regenerative braking torque and mechanical braking torque according to the real-time vehicle status and energy recovery strategy through the vehicle controller, and to control the vehicle to perform coasting energy recovery according to the regenerative braking torque and the mechanical braking torque. The deceleration determination module is used to calculate the target vehicle deceleration based on the regenerative braking torque and the mechanical braking torque through the vehicle controller, and to obtain the actual vehicle deceleration through an inertial sensor. The response control module is used to determine the unexpected deceleration based on the target vehicle deceleration and the actual vehicle deceleration, and to perform emergency response control on the vehicle based on the unexpected deceleration.

6. The vehicle deceleration control system based on coasting energy recovery according to claim 5, characterized in that, The braking torque calculation module includes: The first unit is used to obtain the corresponding torque-vehicle speed mapping table based on the current driving mode; The second unit is used to query the torque-vehicle speed mapping table based on the real-time vehicle speed to obtain the coasting feedback torque. The third unit is used to determine the maximum regenerative torque of the motor based on the current speed of the motor. The fourth unit is used to determine the maximum received power of the battery based on the real-time battery status, and to determine the corresponding maximum available torque based on the maximum received power of the battery. The fifth unit is used to determine the target braking torque based on real-time braking requirements; The sixth unit is used to determine the regenerative braking torque based on the minimum value of the coasting feedback torque, the maximum regenerative torque, the maximum available torque, and the target braking torque; The seventh unit is used to determine the mechanical braking torque based on the difference between the target braking torque and the regenerative braking torque.

7. The vehicle deceleration control system based on coasting energy recovery according to claim 5, characterized in that, The deceleration determination module includes: The eighth unit is used to obtain the transmission system efficiency, reducer ratio, and effective wheel rolling radius of the vehicle. The ninth unit is used to calculate the target braking force based on the transmission system efficiency, the reducer transmission ratio, the effective rolling radius of the wheel, the regenerative braking torque, and the mechanical braking torque. The tenth unit is used to calculate the target vehicle deceleration based on the target braking force and the effective mass of the vehicle.

8. An electronic device, characterized in that, The electronic device includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for enabling communication between the processor and the memory. When the program is executed by the processor, it implements the vehicle deceleration control method based on coasting energy recovery as described in any one of claims 1 to 4.

9. A vehicle, characterized in that, The vehicle includes a vehicle deceleration control system based on coasting energy recovery as described in any one of claims 5 to 7 or the electronic device as described in claim 8.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle deceleration control method based on coasting energy recovery as described in any one of claims 1 to 4.

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