ENERGY RECOVERY METHOD, DEVICE, ELECTRIC VEHICLE, STORAGE MEDIUM, AND COMPUTER PROGRAM

Abstract

The present invention provides an energy recovery method, device, electric vehicle, and storage medium. The method includes the steps of acquiring vehicle driving information, acquiring a vehicle braking request based on road condition information and driving state information, predicting first motor regenerative braking based on the vehicle braking request, and recovering energy based on the first motor regenerative braking.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application is based on and claims priority to Chinese Patent Application No. 202011272026.3, filed on November 13, 2020, entitled "Energy Recovery Method, Apparatus, Electric Vehicle and Storage Medium," the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates generally to the field of automotive technology, and more particularly to the field of energy recovery in electric vehicles, and more particularly to an energy recovery method, apparatus, electric vehicle, and storage medium. [Background technology]

[0003] Energy recovery is an important means of reducing energy consumption in electric vehicles. There are currently two main forms of energy recovery: one is braking regeneration, which refers to the braking process of the motor when the driver steps on the brake pedal; and the other is accelerator-off regeneration, which refers to constant deceleration braking of the motor with a predetermined regenerative strength when the driver turns off the accelerator and the vehicle is coasting. The motor regenerative torque is the sum of the braking regenerative torque and the accelerator-off regenerative torque; the greater the motor regenerative torque, the more energy is recovered.

[0004] In practical application, the optimal motor regenerative torque cannot be determined accurately, which affects the energy recovery effect.

[0005] Therefore, there is a need for an energy recovery method that improves the efficiency of energy recovery. Summary of the Invention [Problem to be solved by the invention]

[0006] In view of the above deficiencies or shortcomings in the prior art, it is desirable to provide an energy recovery method, apparatus, electric vehicle, and storage medium that improve the effect of energy recovery during braking of an electric vehicle. [Means for solving the problem]

[0007] In one aspect of the embodiment of the present invention, the energy recovery method according to the embodiment of the present application includes: acquiring vehicle driving information including road condition information and driving state information; obtaining a vehicle braking request based on the road condition information and the driving state information; predicting first motor braking regeneration based on the vehicle braking request; and performing energy recovery based on the first motor regenerative braking.

[0008] In one embodiment, the step of obtaining a vehicle braking request based on the road condition information and the driving state information includes: Road Condition Information and acquiring a vehicle braking distance based on the driving state information; Calculating a vehicle braking deceleration and a time corresponding to said deceleration based on the vehicle braking distance; and calculating a vehicle braking demand based on a vehicle braking deceleration rate and a time corresponding to said deceleration rate.

[0009] In one embodiment, predicting first motor braking regeneration based on the vehicle braking demand comprises: calculating a wheel regenerative torque for vehicle braking based on the vehicle braking request; acquiring a first motor regenerative torque of a first motor regenerative braking based on a wheel regenerative torque of a vehicle braking; and obtaining a first motor regeneration time of the first motor braking regeneration based on the first motor regeneration torque, the first motor regeneration time being determined based on a battery pulse charging characteristic by the first motor regeneration torque.

[0010] In one embodiment, predicting first motor braking regeneration based on the vehicle braking demand comprises: obtaining an optimal pulse charging power based on a battery pulse charging characteristic and the first motor regenerative braking; and obtaining a second motor braking regeneration based on the optimal pulse charging power, vehicle braking demand, and a torque limit value that can be received by the motor.

[0011] In one embodiment, obtaining an optimal pulse charging power based on a battery pulse charging characteristic and the first motor regenerative braking includes: acquiring a first motor regeneration time and a first motor regeneration torque of a first motor regenerative braking; obtaining a maximum battery pulse charging power based on a first motor regeneration time and a first motor regeneration torque; obtaining a charging duration of a maximum battery pulse charging power based on a battery pulse charging characteristic corresponding to the maximum battery pulse charging power; determining an optimal pulse charging power based on the charging duration of the maximum battery pulse charging power, a battery pulse charging characteristic, and a first motor regeneration time.

[0012] In one embodiment, obtaining second motor braking regeneration based on the optimal pulse charging power, vehicle braking demand, and a torque limit that the motor can receive includes: determining a motor allowable wheel regeneration torque, which is a torque regenerated from the wheels of the vehicle to the motor under an optimal pulse charging power condition, based on the optimal pulse charging power; determining a wheel request torque for vehicle braking, which is a wheel torque required for completing braking when braking the vehicle, based on the vehicle braking request; A step of determining a maximum wheel regenerative torque that can be received by the motor based on a torque limit value that the motor can receive, the maximum wheel regenerative torque being a maximum torque that can be received by the motor and is regenerated from the wheels to the motor; selecting, as the second motor regenerative torque, the torque having the smallest absolute value from among the motor allowable wheel regenerative torque, the wheel required torque for vehicle braking, and the maximum wheel regenerative torque that the motor can receive.

[0013] In one embodiment, the method further comprises: controlling the second motor regenerative torque to perform vehicle braking by providing a braking torque parameter to a braking controller based on the vehicle braking request; and initiating mechanical braking if the braking torque parameter of the second motor regenerative torque does not satisfy a vehicle braking demand.

[0014] The present application further discloses an energy recovery device, Energy Recovery Device teeth, A travel information acquisition module that acquires vehicle travel information including road condition information and travel state information while the vehicle is traveling; a braking regeneration module that acquires a vehicle braking request and predicts first motor braking regeneration based on the acquired road condition information and driving state information during vehicle driving; and an energy recovery module that performs energy recovery based on the predicted first motor regenerative braking.

[0015] The present application further discloses an electric vehicle, which includes an energy recovery device according to the embodiments of the present invention.

[0016] The present application further discloses a computer readable storage medium having a computer program stored thereon, which, when executed, implements the energy recovery method according to the embodiments of the present invention. Effect of the Invention

[0017] In the embodiment of the present application, the motor braking regeneration is predicted based on the vehicle driving information, and energy recovery is performed based on the motor braking regeneration. When performing energy recovery, the present invention makes a prediction based on the vehicle driving information, plans the optimal battery charging power and the duration of each power stage in advance, and realizes maximization of energy recovery. Through the energy recovery prediction driving assistance, the probability that the driver will apply the brake deeply is reduced, the energy loss caused by mechanical braking is reduced, and the energy recovery utilization rate is improved. [Brief description of the drawings]

[0018] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of the non-limiting embodiments given below with reference to the drawings in which:

[0019] [Figure 1] 2 is an exemplary flow chart of an energy recovery method according to one embodiment of the present application. [Diagram 2] 4 is another exemplary flow chart of an energy recovery method according to another embodiment of the present application. [Diagram 3] 1 is a schematic diagram of an energy recovery device according to an embodiment of the present application; [Figure 4] FIG. 2 is a schematic diagram showing the pulse charging characteristics of a battery according to an embodiment of the present application. [Diagram 5] 1 is a schematic diagram of an electric vehicle according to an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The present application will be described in more detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are merely for the purpose of illustrating the related invention, and are not intended to limit the invention. For the sake of convenience, the drawings only show parts relevant to the invention.

[0021] In addition, the embodiments and features of the embodiments in the present application can be combined with each other as long as they are not contradictory. Hereinafter, the present application will be described in detail with reference to the drawings.

[0022] Referring to FIG. 1, an exemplary flow diagram of the application of the energy recovery method according to the embodiment of the present application is shown.

[0023] As shown in FIG. 1, in step 110, vehicle driving information including road condition information and driving state information is obtained.

[0024] Specifically, during the actual driving process of the vehicle, it is necessary to grasp the driving situation of the vehicle in real time, and judge whether the vehicle needs to be braked based on the driving situation of the vehicle. The means for acquiring the vehicle driving information may be the vehicle meter or some external devices, for example, acquiring the vehicle position information by a positioning system, acquiring the current or next stage road condition information, for example, uphill, downhill, narrowing of width, widening of width, sharp curve, etc., by a high-resolution map, acquiring the vehicle information and traffic congestion information ahead by a camera, determining the presence or absence of pedestrians, traffic signals, etc., acquiring the vehicle speed, vehicle distance, vehicle relative speed, etc. by a radar, acquiring the corresponding driving information of the vehicle by various sensors, and providing the basis for deciding whether to brake the vehicle based on the acquired road condition information and vehicle driving state information during the vehicle driving.

[0025] In step 120, a vehicle braking request is obtained based on the road condition information and the running state information.

[0026] Specifically, the vehicle braking request includes a vehicle braking speed and a vehicle braking time, the vehicle braking speed is a running speed required to complete braking within a set safe distance, and the vehicle braking time is a running time required to complete braking within a safe distance based on the vehicle braking speed. After acquiring vehicle driving information, it is determined whether vehicle braking is required based on the real-time vehicle driving situation, and when specifically executing, a certain vehicle braking start threshold can be set. For example, when a pedestrian is found to be within a set distance ahead by a camera, a message is sent to notify the driver to perform vehicle braking. The method of such a notification message can be voice or image, for example, it can be a text message to notify the driver to turn off the accelerator. For example, when a high-resolution map detects that there is a sudden sharp curve on the road ahead, it is necessary to notify the driver to perform vehicle braking, and the acquired vehicle driving information can be used to predict vehicle braking in advance and optimize energy recovery.

[0027] When the vehicle is braked, the deceleration and deceleration time of the vehicle brake can be calculated based on information such as the vehicle running speed and the braking distance, and based on common physical theorems.

[0028] Specifically, the step of obtaining a vehicle braking request based on the road condition information and the running state information includes the following steps.

[0029] According to the road condition information and driving state information of the vehicle, the vehicle braking distance is obtained. Specifically, the vehicle braking distance may be obtained by measuring the distance to the obstacle ahead by a distance measuring instrument or device such as a radar, an infrared ray, a laser, an acoustics, etc., or may be measured and calculated by combining a positioning system with a high-resolution map, where the positioning system includes the "BeiDou" positioning system, the "GPS" positioning system, the "Galileo" positioning system, and the "Glonass" positioning system.

[0030] Based on the vehicle braking distance, the deceleration of the vehicle braking and the time corresponding to the deceleration are calculated. Specifically, since the braking distance and the running speed of the vehicle are known, the deceleration and the deceleration time required to complete the braking can be calculated based on common physical theorems.

[0031] Calculate a vehicle braking demand based on the vehicle braking deceleration and the time corresponding to the deceleration, because the vehicle braking demand is the torque required on the vehicle wheels when completing a braking task, the wheel torque is the power applied to the vehicle wheels during vehicle braking, and the vehicle braking deceleration is determined by the power of the vehicle wheels.

[0032] In step 130, first motor regenerative braking is predicted based on the vehicle braking demand.

[0033] The first motor braking regeneration is the torque received by the motor and regenerated from the vehicle's wheels to the motor when the vehicle completes braking in the current situation, without considering any external factors, and the first motor regeneration time and first motor regeneration torque determined by the first motor braking regeneration indicate only the torque received by the motor and regenerated by the vehicle's wheels during braking, and the regeneration duration, without considering whether the motor can withstand the torque regenerated during vehicle braking.

[0034] According to the deceleration of the vehicle braking and the time corresponding to the deceleration, the first motor regeneration time and the first motor regeneration torque during the braking of the electric vehicle are calculated. The first motor regeneration torque is the torque regenerated from the wheel to the motor during the vehicle braking, and is generally a percentage of the wheel regeneration torque. For example, during the vehicle braking, 40% of the energy is controlled by the heat amount due to the vehicle braking, and 60% of the energy is recoverable, and in this 60% of the energy, 10% of the energy is consumed when regenerating the torque, and the remaining 50% of the energy is the first motor regeneration torque received by the motor. After obtaining the first motor regeneration torque, the first motor regeneration time, i.e., the sustainable time of the first motor regeneration torque received by the motor can be determined based on the battery pulse charging characteristics.

[0035] The battery pulse charging characteristics are shown in FIG. 3. The abscissa SOC (%) in the figure represents the battery residual charge state, i.e., how much charge can be charged into the battery. If the residual charge is 0, it means that the battery charge is 0, and if the residual charge is 100, it means that the battery is fully charged. The ordinate P (KW) represents the battery pulse charging power, which decreases with increasing duration and decreases with increasing battery residual charge.

[0036] Specifically, as shown in FIG. 2, the step of predicting the first motor braking regeneration based on the vehicle braking request includes the following steps 210 to 230.

[0037] In step 210, the wheel regenerative torque for vehicle braking is calculated based on the vehicle braking request.

[0038] Specifically, since the vehicle braking request includes the vehicle braking speed and the vehicle braking time, the torque required for the vehicle wheels when completing vehicle braking, i.e., the wheel regenerative torque of vehicle braking, can be obtained based on the vehicle braking speed and the vehicle braking time, where the wheel regenerative torque of vehicle braking is not controlled by the torque output by the motor or the engine, but is controlled by the power generated by braking the vehicle wheels, and this output power is generated when the braking system acts on the wheels, and the wheel torque multiplied by a coefficient is fed back to the motor and used for motor energy recovery, and what is received by the motor is the first motor regenerative torque, where the specific value of the coefficient multiplied by the wheel torque is related to the performance of the vehicle itself, and different vehicles have different coefficients.

[0039] In step 220, the first motor regenerative torque of the first motor regenerative braking is obtained based on the wheel regenerative torque of the vehicle braking.

[0040] In step 230, a first motor regeneration time of the first motor braking regeneration is obtained based on the first motor regeneration torque, and the first motor regeneration time is determined based on the battery pulse charging characteristic by the first motor regeneration torque.

[0041] When the motor pulse charges the battery, it is affected by the motor's output power and duration, so if the motor regenerative torque is obtained, the motor can charge the battery.In this way, the current battery pulse charging power can be obtained based on the battery pulse charging characteristics, and the time it takes for the motor to charge the battery, i.e., the first motor regeneration time, is obtained based on the battery residual charge status.

[0042] The step of predicting the first motor braking regeneration based on the vehicle braking request further includes the following steps 240 to 250.

[0043] In step 240, an optimal pulse charging power is obtained based on the battery pulse charging characteristics and the first motor braking regeneration.

[0044] In addition, in specific implementation, the first vehicle braking regeneration cannot be received by the motor because it is affected by conditions such as motor performance, the torque conditions actually fed back by the wheels when braking the vehicle, and the residual charge of the battery. Therefore, in order to achieve the maximum efficiency of power recovery, it is necessary to obtain accurate vehicle braking regeneration that is suitable for the motor to receive and conforms to the battery pulse charging characteristics of battery charging on the basis of the first vehicle braking regeneration. The efficiency of using pulse charging is more obvious compared with using constant current charging. Therefore, at present, automotive battery charging generally uses pulse charging. Since the battery pulse charging is affected by the battery pulse charging characteristics, it is necessary to rationally select the battery charging pulse power, that is, select the optimal pulse charging power and determine the optimal vehicle braking regeneration accordingly.

[0045] Specifically, the optimal charging pulse power is related to vehicle braking regeneration and also related to the battery pulse charging characteristics. Since the objective of the present application is to maximize energy recovery during vehicle braking, it is necessary to avoid the battery entering constant current charging as early as possible, and it is better to ensure that the battery is in a pulse charging state as long as possible. According to the battery pulse charging characteristics, different pulse powers are used at different stages.

[0046] In step 250, obtain second motor regenerative braking based on the optimum pulse charging power, the vehicle braking demand, and the torque limit that the motor can tolerate.

[0047] Specifically, even if the optimal pulse charging power is obtained, it does not necessarily mean that the wheel torque during vehicle braking can meet this optimal pulse charging power, and it is necessary to judge and determine the torque that the wheel can transmit during vehicle braking, and this actually transmittable torque is the second motor regenerative torque, which is the regenerative torque that is actually output from the wheel to the motor and that the motor recovers energy to charge the battery, and the second motor regenerative torque is affected by the optimal pulse charging power, the vehicle braking request, and the torque limit value that the motor can receive. The optimal pulse charging power determines whether the pulse power received by the motor is optimal and whether the motor charging efficiency is the highest, the vehicle braking request determines whether the vehicle can complete braking according to the request, and the torque limit value that the motor can receive is the maximum regenerative torque that the motor can receive, and if this torque limit value is exceeded, the motor will be damaged. Therefore, only based on these three factors can the optimal motor regenerative braking, i.e., the second motor regenerative braking, be obtained.

[0048] Specifically, the step of obtaining the optimal pulse charging power based on the battery pulse charging characteristics and the first motor braking regeneration includes the following steps.

[0049] A first motor regeneration time and a first motor regeneration torque of the first motor regenerative braking are obtained.

[0050] The maximum battery pulse charging power is obtained based on the first motor regeneration time and the first motor regeneration torque, specifically, the maximum battery pulse charging power here is the maximum battery pulse charging power fed back to the motor when the vehicle is braking.

[0051] The charging duration of the maximum battery pulse charging power is obtained based on the battery pulse charging characteristic corresponding to the maximum battery pulse charging power, specifically, the charging duration of the maximum battery pulse charging power can be looked up by the battery pulse charging characteristic.

[0052] The optimum pulse charging power is determined based on the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristics, and the first motor regeneration time. The battery pulse charging characteristics are shown in Figure 3, and the optimum pulse charging power that is determined is influenced by three factors: the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristics, and the first motor regeneration time. The optimum pulse charging power can be obtained by these three factors.

[0053] In one specific embodiment, obtaining second motor braking regeneration based on the optimal pulse charging power, the vehicle braking demand, and the torque limit value that the motor can receive includes: determining a motor allowable wheel regeneration torque, which is a torque that is allowed under an optimal pulse charging power condition and is regenerated from the wheels of the vehicle to the motor, based on the optimal pulse charging power; determining a wheel request torque for vehicle braking, which is a wheel torque required for completing braking when braking the vehicle, based on the vehicle braking request; determining a maximum wheel regenerative torque that can be received by the motor based on a torque limit value that the motor can receive, the maximum wheel regenerative torque being a maximum torque that can be received by the motor and regenerated from the wheels to the motor; selecting, as the second motor regenerative torque, the torque having the smallest absolute value from among the motor allowable wheel regenerative torque, the wheel required torque for vehicle braking, and the maximum wheel regenerative torque that the motor can receive.

[0054] Specifically, since the second motor regenerative torque is the torque actually used by the motor to charge the battery, in this case, it is necessary to select the minimum of the three in order to ensure the safety of the motor, ensure the highest battery charging efficiency, and satisfy the torque situation that the wheels of the vehicle can actually feed back when braking the vehicle. Here, the acquired second motor regenerative torque is the regenerative torque that the motor actually receives and that the wheels of the vehicle can output to the motor when braking the vehicle, that is, the motor must only receive this amount of energy and lose the excess energy, and the motor converts the energy of the second motor regenerative torque into a pulse current based on the battery pulse charging characteristics to charge the battery.

[0055] In step 140, energy recovery is performed based on the first motor regenerative braking.

[0056] Specifically, the second vehicle braking regeneration is obtained by combining the first vehicle braking regeneration with the corresponding calculation, and the first vehicle braking regeneration here includes the second vehicle braking regeneration, so that energy recovery is performed by the first vehicle braking regeneration.

[0057] In one embodiment, the method for recovering energy comprises the steps of: controlling the second motor regenerative torque to perform vehicle braking by providing a braking torque parameter to a braking controller based on the vehicle braking request; and initiating mechanical braking if the braking torque parameter of the second motor regenerative torque does not satisfy a vehicle braking requirement.

[0058] Specifically, in the embodiment of the present application, motor braking is used preferentially, and when the vehicle wheel torque can be fully received by motor regeneration, motor braking is realized, and when it cannot be fully received, a mechanical braking method is required to assist in receiving the excess vehicle wheel regeneration.

[0059] In the embodiment of the present application, the motor braking regeneration is predicted based on the vehicle driving information, and energy recovery is performed based on the motor braking regeneration. When performing energy recovery, the present invention makes a prediction based on the vehicle driving information, plans the optimal battery charging power and the duration of each power stage in advance, and realizes maximization of energy recovery. Through the energy recovery prediction driving assistance, the probability that the driver will apply the brake deeply is reduced, the energy loss caused by mechanical braking is reduced, and the energy recovery utilization rate is improved.

[0060] FIG. 4 is a schematic diagram of an energy recovery device according to an embodiment of the present application. As shown in FIG. 4, the energy recovery device according to this embodiment includes the following modules.

[0061] The driving information acquisition module acquires vehicle driving information including road condition information and driving state information while the vehicle is driving.

[0062] Specifically, while a vehicle is traveling, it is affected by conditions such as road conditions, traffic conditions, congestion conditions, vehicle traveling speed, and vehicle distance, and it is necessary to brake the vehicle in real time. For example, when a vehicle is traveling, if there is a downhill slope ahead, a red light is seen, a pedestrian is encountered, the vehicle distance is too short, and the vehicle speed is too fast, the vehicle needs to be braked in all cases. Vehicle traveling information may be obtained by an on-board positioning system such as the Beidou system, the GPS system (Global Positioning System, abbreviated as GPS system), the Glonass system, and the Galileo system, or may be obtained by a camera, laser, radar, infrared and distance sensor, speed sensor, etc., and these devices obtain vehicle position information, distance information between the vehicle and an obstacle ahead, vehicle speed information, vehicle distance and relative speed information, vehicle congestion conditions, road slope information, road traffic signal information, etc.

[0063] The brake regeneration module obtains a vehicle braking request and predicts first motor brake regeneration based on the obtained road condition information and driving state information while the vehicle is traveling.

[0064] Specifically, based on vehicle driving information, it is determined whether or not the vehicle needs to be braked, and if braking is necessary, the distance to the obstacle, the vehicle deceleration and deceleration time required to ensure safety when braking the vehicle, etc. are calculated under the current vehicle speed conditions, and by calculating the vehicle deceleration, the motor regenerative torque and motor regenerative time can be obtained, where the motor regenerative torque is the power received by the motor when the vehicle is braked, and the motor regenerative time is the time during which the motor receives power regenerated by vehicle braking.

[0065] The energy recovery module performs energy recovery based on the predicted first motor regenerative braking.

[0066] When the vehicle decelerates or brakes, part of the kinetic energy of the vehicle is converted into other forms of energy and stored by the energy recovery device connected to the driving wheels, thereby achieving the purpose of decelerating or braking and recovering braking energy, and then, when the vehicle starts or accelerates, the stored energy is released to increase the driving force on the driving wheels or the driving range of the electric vehicle.

[0067] When performing energy recovery, when the vehicle starts braking, its pulse current is maximum, so its recoverable power is maximum; when the vehicle is almost stopped, the energy recovery is zero; the efficiency of energy recovery is closely related to the battery pulse charging power; the higher the battery pulse charging power, the shorter the pulse charging duration, but the higher the charging efficiency to the battery; and the lower the battery pulse charging power, the longer the sustained charging time, which is close to constant current charging, and since the vehicle braking time is limited; in the same time length, the higher the battery pulse charging power, the higher the charging efficiency to the battery; but if the battery pulse charging power is too high, the battery charge state will quickly reach a certain percentage, and later, when the vehicle braking speed decreases to a certain degree, the battery cannot be charged; therefore, the battery pulse charging power must be selected after comprehensive consideration.

[0068] In the embodiment of the present application, the driving information acquisition module acquires vehicle driving information, the braking regeneration module predicts motor braking regeneration, and the energy recovery module recovers energy based on motor braking regeneration. When recovering energy, the present invention makes predictions based on vehicle driving information, pre-plans optimal battery charging power and duration of each power stage, and maximizes energy recovery. The energy recovery prediction driving assistance reduces the probability that the driver will apply the brake deeply, reduces energy loss caused by mechanical braking, and improves the energy recovery utilization rate.

[0069] As shown in FIG. 5, the present application further discloses an electric vehicle, which includes the energy recovery device of the embodiment of the present application.

[0070] In particular, in an embodiment of the present disclosure, the energy recovery method described in any of the above embodiments may be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product including a computer program tangibly embodied in a machine-readable medium, the computer program including program code for executing the energy recovery method. In such an embodiment, the computer program may be downloaded and installed from a network by a communication unit and / or installed from a removable medium.

[0071] The one or more programs are programs stored in a read-only memory ROM or programs stored in a random access memory RAM, and perform various appropriate operations and processes. The random access memory RAM includes software programs for the server to complete corresponding services, and further includes various programs and data required for the vehicle operation. The server is connected to its controlled hardware devices, the read-only memory ROM, and the random access memory RAM with each other through a bus, and various input / output interfaces are also connected to the bus.

[0072] An input section such as a keyboard and a mouse, an output section including a cathode ray tube (CRT), a liquid crystal display (LCD) and a speaker, and a communication section including a network interface card such as a LAN card and a modulator / demodulator are connected to the input / output interface. The communication section executes communication processing via a network such as the Internet. Drivers are also connected to the input / output interface as required. Removable media such as magnetic disks, optical disks, magneto-optical disks and semiconductor memories are installed in the drivers as required, and computer programs read from the drivers are installed in the memory as required.

[0073] In particular, in an embodiment of the present disclosure, the energy recovery method described in any of the above embodiments may be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product including a computer program tangibly embodied in a machine-readable medium, the computer program including program code for executing the energy recovery method. In such an embodiment, the computer program may be downloaded and installed from a network by a communication unit and / or installed from a removable medium.

[0074] The units or modules described in the embodiments of the present application may be implemented in the form of software or hardware. The described units or modules may be configured in a processor. The names of these units or modules, in some cases, do not limit the units or modules themselves.

[0075] The above description merely describes the preferred embodiments of the present application and the technical principles used. Those skilled in the art should understand that the scope of the present invention is not limited to the technical means consisting of a specific combination of the above technical features, but should include other technical means consisting of any combination of the above technical features or their equivalent features within the scope of the present invention. For example, the above features and technical features having similar functions disclosed in the present application (not limited to these) may be substituted for each other.

Claims

1. acquiring vehicle driving information including road condition information and driving state information; obtaining a vehicle braking request based on the road condition information and the driving state information; predicting first motor braking regeneration based on the vehicle braking request; and recovering energy based on the first motor regenerative braking. The step of predicting first motor braking regeneration based on the vehicle braking request includes: calculating a wheel regenerative torque for vehicle braking based on the vehicle braking request; acquiring a first motor regenerative torque of a first motor regenerative braking based on a wheel regenerative torque of a vehicle braking; and acquiring a first motor regeneration time of a first motor braking regeneration based on a first motor regeneration torque, wherein the first motor regeneration time is determined based on a battery pulse charging characteristic by the first motor regeneration torque.

2. The step of obtaining a vehicle braking request based on the road condition information and the running state information includes: Obtaining a vehicle braking distance based on road condition information and driving state information; Calculating a vehicle braking deceleration and a time corresponding to said deceleration based on the vehicle braking distance; and calculating a vehicle braking request based on a vehicle braking deceleration rate and a time corresponding to said deceleration rate.

3. The step of predicting first motor braking regeneration based on the vehicle braking request includes: obtaining an optimal pulse charging power based on a battery pulse charging characteristic and the first motor regenerative braking; 2. The method of claim 1, further comprising: obtaining a second motor braking regeneration based on the optimal pulse charging power, vehicle braking demand, and a torque limit that can be received by the motor.

4. obtaining an optimal pulse charging power based on a battery pulse charging characteristic and the first motor braking regeneration, acquiring a first motor regeneration time and a first motor regeneration torque of a first motor regenerative braking; obtaining a maximum battery pulse charging power based on a first motor regeneration time and a first motor regeneration torque; obtaining a charging duration of a maximum battery pulse charging power based on a battery pulse charging characteristic corresponding to the maximum battery pulse charging power; determining an optimal pulse charging power based on a charging duration of the maximum battery pulse charging power, a battery pulse charging characteristic, and a first motor regeneration time.

5. obtaining a second motor braking regeneration based on the optimal pulse charging power, a vehicle braking demand, and a torque limit value that can be received by the motor; determining a motor allowable wheel regeneration torque, which is a torque that is allowed under the optimum pulse charging power condition and is regenerated from the wheels of the vehicle to the motor, based on the optimum pulse charging power; determining a wheel request torque for vehicle braking, which is a wheel torque required for completing braking when braking the vehicle, based on the vehicle braking request; determining a maximum wheel regenerative torque that can be received by the motor based on a torque limit value that can be received by the motor, the maximum wheel regenerative torque being a maximum torque that can be received by the motor and is regenerated from the wheels to the motor; and selecting, as the second motor regenerative torque, the torque having the smallest absolute value among the motor allowable wheel regenerative torque, the wheel required torque for vehicle braking, and the maximum wheel regenerative torque that the motor can receive.

6. controlling the second motor regenerative torque to perform vehicle braking by providing a braking torque parameter to a braking controller based on the vehicle braking request; 6. The method of claim 5, further comprising the step of initiating mechanical braking if the braking torque parameter of the second motor regenerative torque does not meet vehicle braking demands.

7. A travel information acquisition module that acquires vehicle travel information including road condition information and travel state information while the vehicle is traveling; a braking regeneration module that acquires a vehicle braking request and predicts first motor braking regeneration based on the acquired road condition information and driving state information during vehicle driving; an energy recovery module that performs energy recovery based on the predicted first motor braking regeneration, The brake regeneration module includes: Calculating a wheel regenerative torque for vehicle braking based on the vehicle braking request; obtaining a first motor regenerative torque of a first motor regenerative braking based on a wheel regenerative torque of a vehicle braking; A first motor regeneration time of the first motor braking regeneration is obtained based on the first motor regeneration torque; 2. An energy recovery device according to claim 1, wherein the first motor regeneration time is determined based on a first motor regeneration torque and a battery pulse charging characteristic.

8. An electric vehicle comprising the energy recovery device according to claim 7.

9. A computer readable storage medium having stored thereon a computer program, the computer program being adapted to implement the method according to any one of claims 1 to 6 when executed.

10. A computer program, which, when executed, realises a method according to any one of claims 1 to 6.

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