Energy recovery control method and device, and vehicle

Abstract

The present application relates to the technical field of vehicles, and provides an energy recovery control method and device, and a vehicle, aiming to provide an energy recovery strategy during driving downhill and improve the driving comfort in a downhill state. The method comprises: in response to the working condition of a vehicle meeting an energy recovery condition, detecting the state of the vehicle; when the vehicle is in a downhill state, acquiring the current opening degree and the current change rate of an accelerator pedal of the vehicle; determining a driving intention of the vehicle on the basis of the current opening degree; and triggering an energy recovery strategy corresponding to the driving intention so as to carry out energy recovery, wherein an energy recovery strategy corresponding to a slip driving intention comprises determining a target recovery torque on the basis of the current vehicle speed of the vehicle, and an energy recovery strategy corresponding to an accelerated driving intention comprises determining a target recovery torque on the basis of the current opening degree and / or the current change rate.

Description

Energy recovery control method, device and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on December 4, 2023, with application number 202311649813.9, entitled “A method, device and vehicle for controlling energy recovery”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of vehicle technology, and in particular to a control method, device and vehicle for energy recovery. Background Art

[0004] New energy vehicles are characterized by fast torque response and minimal energy loss. This low energy loss is primarily due to the energy recovery system, which recovers energy during braking or coasting. When driving on ordinary roads, if the driver does not press the accelerator pedal, it is assumed that there is no torque demand, allowing coasting energy recovery.

[0005] However, current vehicles use a fixed energy recovery strategy for energy recovery, which has the problem of low energy recovery efficiency and affects the user's driving experience. Summary of the Invention

[0006] In view of this, the present application aims to propose an energy recovery control method, device and vehicle to solve the problem that current vehicles adopt a fixed energy recovery strategy, resulting in low energy recovery efficiency and affecting the user's driving experience.

[0007] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0008] A control method for energy recovery, comprising:

[0009] In response to the vehicle's operating condition satisfying an energy recovery condition, detecting a state of the vehicle; wherein the energy recovery condition represents an operating condition for the vehicle to perform coasting energy recovery;

[0010] When the vehicle is in a downhill state, obtain the current opening degree and current change rate of the vehicle's accelerator pedal;

[0011] Determining the vehicle's driving intention based on the current opening; wherein the driving intention includes coasting driving intention and accelerating driving intention;

[0012] Triggering an energy recovery strategy corresponding to driving intention to perform energy recovery;

[0013] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed; wherein the target recovery torque is the recovery torque of the drive motor when the vehicle performs coasting energy recovery;

[0014] The energy recovery strategy corresponding to the acceleration driving intention includes: determining a target recovery torque based on a current opening degree and / or a current change rate.

[0015] Furthermore, based on the current opening degree and / or the current rate of change, determining the driving intention of the vehicle includes:

[0016] When the current opening is less than the first preset opening, determining that the driving intention is a coasting driving intention;

[0017] When the current opening degree is greater than or equal to the first preset opening degree, it is determined that the driving intention is an acceleration driving intention.

[0018] Furthermore, based on the current vehicle speed, the target recovery torque is determined, including:

[0019] Obtaining a first preset torque; wherein the first preset torque is a recovery torque when the coasting energy recovery intensity level is a strong level;

[0020] Based on the current vehicle speed, a torque adjustment coefficient is determined;

[0021] A target regeneration torque is determined based on the torque adjustment coefficient and the first preset torque.

[0022] Furthermore, the acceleration driving intention includes a slow acceleration type and a fast acceleration type. Based on the current opening degree and / or the current change rate, the target recovery torque is determined, including:

[0023] determining a type of acceleration driving intention based on the current opening degree and / or the current rate of change;

[0024] When the acceleration driving intention is a fast acceleration type, the target regeneration torque is determined as a regeneration torque that decreases at a preset torque change rate starting from a first preset torque; wherein the first preset torque is the regeneration torque when the coasting energy regeneration intensity level is a strong level;

[0025] When the acceleration driving intention is a slow acceleration type, the second preset torque is used as the target recovery torque to continuously recover energy according to the target recovery torque; wherein the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

[0026] Furthermore, based on the current opening degree and / or the current rate of change, the type of acceleration intention is determined, including:

[0027] When the current opening is greater than or equal to a first preset opening and less than a second preset opening, comparing the current change rate with the preset change rate; wherein the first preset opening is less than the second preset opening;

[0028] If the current rate of change is less than or equal to the preset rate of change, the acceleration intention is determined to be a slow acceleration type;

[0029] If the current rate of change is greater than the preset rate of change, the acceleration intention is determined to be a fast acceleration type;

[0030] When the current opening degree is greater than or equal to the second preset opening degree, the type of the acceleration driving intention is determined to be a fast acceleration type.

[0031] Furthermore, when the vehicle is in a downhill state, the accelerator pedal opening and the accelerator pedal change rate of the vehicle are obtained, including:

[0032] When the vehicle is in a downhill state, detecting the slope of the vehicle;

[0033] When the slope is greater than or equal to a preset slope, obtaining the accelerator pedal opening and accelerator pedal change rate of the vehicle;

[0034] The method also includes:

[0035] When the slope is less than the preset slope, coasting energy recovery is turned off.

[0036] Furthermore, the vehicle driving mode includes an off-road mode and a non-off-road mode. In the off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a first preset SOC value.

[0037] In the non-off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach the second preset SOC value;

[0038] The first preset SOC value is greater than the second preset SOC value.

[0039] Furthermore, the method further comprises:

[0040] When the driving mode of the vehicle is the off-road mode, setting the engine speed of the vehicle during idling charging to a first preset speed;

[0041] When the driving mode of the vehicle is non-off-road mode, setting the engine speed of the vehicle during idling charging to a second preset speed;

[0042] The first preset speed is higher than the second preset speed.

[0043] Compared with the prior art, the energy recovery control method of the present application has the following advantages:

[0044] The present application provides a method for controlling energy recovery, which detects the state of a vehicle in response to the vehicle's operating condition satisfying an energy recovery condition; wherein the energy recovery condition represents the operating condition of the vehicle performing coasting energy recovery; when the vehicle is in a downhill state, obtains the current opening degree and current rate of change of the vehicle's accelerator pedal; determines the vehicle's driving intention based on the current opening degree; wherein the driving intention includes coasting driving intention and acceleration driving intention; triggers an energy recovery strategy corresponding to the driving intention to perform energy recovery; wherein the energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the vehicle's current speed; wherein the target recovery torque is the recovery torque of the drive motor when the vehicle performs coasting energy recovery; the energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and / or current rate of change;

[0045] Therefore, the present application provides different energy recovery strategies according to the driving intention of the vehicle when it is in a downhill state when the vehicle meets the conditions for coasting energy recovery, so that the coasting energy recovery during the downhill process can be applied to different driving intentions, thereby improving the energy recovery efficiency while not affecting the user's driving experience; when the vehicle's driving intention is a coasting driving intention, the recovery torque of the coasting energy recovery is regulated according to the current driving speed of the vehicle, so as to avoid excessive deceleration of the vehicle while ensuring energy recovery; and when the vehicle's driving intention is an acceleration driving intention, a corresponding coasting energy recovery strategy is formulated according to the opening and change rate of the vehicle's accelerator pedal, which can reduce the impact of coasting energy recovery on the increase in vehicle speed when the vehicle is accelerating, thereby improving driving comfort in off-road scenarios.

[0046] Another object of the present application is to propose an energy recovery control device to solve the problem that current vehicles adopt a fixed energy recovery strategy, resulting in low energy recovery efficiency and affecting the user's driving experience.

[0047] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0048] A control device for energy recovery, comprising:

[0049] a detection module, configured to detect a state of the vehicle in response to an operating condition of the vehicle satisfying an energy recovery condition; wherein the energy recovery condition represents an operating condition under which the vehicle performs coasting energy recovery;

[0050] An acquisition module, used to acquire the current opening degree and current change rate of the vehicle's accelerator pedal when the vehicle is in a downhill state;

[0051] A first determining module is configured to determine a driving intention of the vehicle based on the current opening; wherein the driving intention includes a coasting driving intention and an accelerating driving intention;

[0052] An energy recovery module, used to trigger an energy recovery strategy corresponding to driving intention to perform energy recovery;

[0053] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed; wherein the target recovery torque is the recovery torque of the drive motor when the vehicle performs coasting energy recovery;

[0054] The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and the current change rate.

[0055] The energy recovery control device and the above-mentioned energy recovery control method have the same advantages over the prior art, which will not be described in detail here.

[0056] Another object of the present application is to propose a vehicle to solve the problem that current vehicles adopt a fixed energy recovery strategy, resulting in low energy recovery efficiency and affecting the user's driving experience.

[0057] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0058] A vehicle includes: a control unit, the control unit being configured to execute the above-mentioned coasting energy recovery control method.

[0059] The advantages of the vehicle and the above-mentioned energy recovery control method over the prior art are the same and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0061] FIG1 is a flowchart of the steps of the energy recovery control method provided in an embodiment of the present application;

[0062] FIG2 is a flowchart of the steps of an energy recovery strategy corresponding to a coasting driving intention provided in an embodiment of the present application;

[0063] FIG3 is a control logic diagram of an energy recovery control method provided in an embodiment of the present application;

[0064] FIG4 is a schematic structural diagram of an energy recovery control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0066] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0067] In related art, new energy vehicles include energy recovery systems that minimize energy losses through coasting, braking, and creeping energy recovery. Coasting energy recovery utilizes the vehicle's own kinetic energy to rotate the wheels, thereby driving the drive motor to recover energy when the driver doesn't require driving torque. The amount of energy recovered is determined by the drive motor's regenerative torque. Coasting energy recovery includes weak, standard, and strong levels. Drivers can adjust the coasting energy recovery level based on their driving habits. For example, if the driver selects the standard level for coasting energy recovery, the system detects whether the vehicle meets the coasting energy recovery requirements during driving. If the vehicle's battery remaining charge is below a certain value and the brake and accelerator pedals are not activated, coasting energy recovery is determined to be performed at the regenerative torque corresponding to the standard level. During coasting, the drive motor is controlled to recover energy at this regenerative torque. If the regenerative torque needs to be adjusted, the driver must actively adjust the coasting energy recovery level, thereby adjusting the coasting energy recovery torque.

[0068] However, the current coasting energy recovery is relatively fixed, and is usually performed according to the energy recovery strategy manually selected by the driver. It is difficult to flexibly change according to the vehicle's driving, especially during downhill driving. When the vehicle's driving changes, only the coasting energy recovery can be turned off, resulting in some energy being unable to be recovered, making the energy recovery efficiency low; at the same time, the use of a fixed recovery torque for coasting energy recovery can easily cause the vehicle speed to be reduced too much or not enough, and it is necessary to trigger the brake pedal or press the accelerator pedal to accelerate, affecting the user's driving experience.

[0069] For example, in an off-road scenario, the vehicle may face complex situations such as continuous ups and downslopes and slippery ground. At this time, if the fixed energy recovery strategy in the relevant technology is used for coasting energy recovery, then regardless of the driver's driving intention is to accelerate or coast, the drive motor will recover energy with a fixed recovery torque, which will hinder the driver's precise control of the vehicle and make it difficult to drive safely in complex situations. If the coasting energy recovery is turned off in complex situations, the vehicle's energy consumption will increase but the lost energy cannot be recovered and replenished, which will easily lead to a decrease in the vehicle's endurance.

[0070] In view of this, the embodiments of the present application provide a method, device, and vehicle for controlling energy recovery. By specifying different energy recovery strategies based on the vehicle's driving intention when the vehicle is in a downhill state, energy recovery can be applied to various complex downhill situations. While ensuring energy recovery, the impact of coasting energy recovery on the driver's driving is avoided, thereby improving driving comfort. Thus, the present application formulates different energy recovery strategies based on the driver's different driving intentions. When the driver intends to coast the vehicle, the coasting energy recovery torque is controlled based on the vehicle's speed, so that the vehicle's downhill speed remains within a certain range. This can support safe driving in complex situations. When the driver intends to accelerate the vehicle, the coasting energy recovery torque is adjusted based on the degree of acceleration, reducing the impact of coasting energy recovery on vehicle acceleration while achieving partial energy recovery and improving the vehicle's endurance performance. Thus, while achieving coasting energy recovery, the driver can also more accurately control the vehicle's speed.

[0071] Referring to FIG. 1 , FIG. 1 shows a flow chart of the steps of the energy recovery control method provided in an embodiment of the present application. As shown in FIG. 1 , the method specifically includes:

[0072] Step S101 : In response to the vehicle's operating condition satisfying an energy recovery condition, the vehicle's state is detected.

[0073] Among them, the energy recovery condition represents the operating conditions under which the vehicle performs coasting energy recovery; for example, the status of the accelerator pedal or the brake pedal is obtained, and when both are not working, it is determined that the vehicle can perform coasting energy recovery; or when judging the remaining power of the vehicle, if it is less than a preset power value, it means that it needs to perform energy recovery.

[0074] In the embodiment of the present application, considering that the vehicle needs the battery to have good endurance in off-road mode, the energy recovery conditions in off-road mode and non-off-road mode can be distinguished. In off-road mode, energy recovery is performed at a higher battery SOC (State-of-Charge, remaining battery capacity) value, while in non-off-road mode, energy recovery can be performed at a lower battery SOC value; thus, if the vehicle is in off-road mode, whether energy recovery is performed is determined according to the energy recovery conditions of the off-road mode; if the vehicle is in non-off-road mode, whether energy recovery is performed is determined according to the energy recovery conditions of the non-off-road mode.

[0075] Among them, the non-off-road mode refers to the driving mode of the vehicle on ordinary roads, and the off-road mode refers to the driving mode of the vehicle on roads such as sand, mud and snow.

[0076] It's understandable that the road conditions vary between off-road and non-off-road modes. In off-road mode, road conditions are more complex. For example, in a desert with numerous sand dunes, slippery terrain, and heavy loads, conventional coasting energy recovery conditions are insufficient. Therefore, by increasing the SOC value used to determine whether to charge the vehicle, sufficient power is available to support driving in complex conditions. In this case, the vehicle's driving mode is first determined. After that, the energy recovery conditions corresponding to that driving mode are used as the criteria for determining whether to perform energy recovery.

[0077] Specifically, when the vehicle's operating conditions meet energy recovery requirements, the system detects the vehicle's status to determine whether coasting energy recovery should be disabled based on whether the vehicle is traveling downhill. The energy recovery requirements may include the vehicle's state of charge (SOC) being below a preset value and the vehicle not being braked. After determining that coasting energy recovery is possible, the system detects whether the vehicle is traveling downhill. If not, indicating that the vehicle is traveling on a flat road, energy recovery is not performed to avoid the need to further accelerate to maintain speed. However, if the vehicle is traveling downhill, some energy can be converted from potential energy to kinetic energy and then to electrical energy, and coasting energy recovery is then determined to be possible.

[0078] In some embodiments, if the slope is too small, the potential energy is insufficient to be converted into electrical energy. In this case, a preset slope value can be determined. Above this slope value, it indicates that the vehicle is in a downhill state. Below this slope value, it is determined that the vehicle is not in a downhill state.

[0079] Among them, whether the vehicle is in a downhill state can be detected by components such as a gyroscope or a horizontal sensor, and whether the vehicle is in a horizontal position can be determined based on the detection results. The vehicle state detection can also be determined based on the height position of the front and rear of the vehicle. By monitoring the height changes of the same horizontal position of the front and rear of the vehicle, when the height of the rear of the vehicle is higher than the height of the front of the vehicle, it is considered that the vehicle is in a downhill state.

[0080] Step S102: When the vehicle is in a downhill state, the current opening degree and current change rate of the vehicle's accelerator pedal are obtained.

[0081] Specifically, when it is detected that the vehicle is in a downhill state, the driver's driving intention to control the vehicle's driving is determined by the change in the opening degree and the rate of change of the opening degree of the vehicle's accelerator pedal, that is, whether the driver currently needs the vehicle to accelerate, and then the specific energy recovery strategy is determined according to the driving intention.

[0082] In the embodiment of the present application, the change in the opening of the accelerator pedal can be directly monitored by the sensor, and then the change rate of the opening of the accelerator pedal can be obtained based on the change time.

[0083] Step S103: Determine the vehicle's driving intention based on the current opening degree.

[0084] Driving intention includes coasting intention and acceleration intention. Coasting intention indicates that the vehicle will continue to coast, while acceleration intention indicates that the vehicle will continue to accelerate. The accelerator pedal opening determines whether the vehicle will accelerate. Therefore, the accelerator pedal opening can be used to determine whether the vehicle will accelerate, and thus determine whether the vehicle's driving intention is coasting or accelerating.

[0085] Step S104: triggering an energy recovery strategy corresponding to the driving intention to perform energy recovery.

[0086] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque for coasting energy recovery based on the current vehicle speed; wherein the target recovery torque is the recovery torque of the drive motor when the vehicle performs coasting energy recovery;

[0087] The energy recovery strategy corresponding to the acceleration driving intention includes: determining a target recovery torque based on a current opening degree and / or a current change rate.

[0088] Specifically, after determining the vehicle's driving intention, a corresponding energy recovery strategy can be triggered based on the driving intention to perform coasting energy recovery. Coasting energy recovery involves converting a portion of the vehicle's potential energy when descending a slope into kinetic energy. This kinetic energy is then partially converted into driving energy and partially into electrical energy. The amount of electrical energy converted depends on the regenerative torque of the drive motor. Therefore, the energy recovery strategy is controlled by regulating the regenerative torque.

[0089] Among them, if the driving intention is a gliding driving intention, it means that the vehicle is gliding downhill. At this time, the current speed of the vehicle is detected to recover gliding energy according to the speed. Specifically, if the vehicle speed is faster, the recovery torque is larger so that the subsequent speed of the vehicle will not be too fast. If the vehicle speed is slower, the recovery torque is smaller so that the subsequent speed of the vehicle will not be too slow. Therefore, the target recovery torque of the vehicle is controlled by the vehicle speed to regulate the driving speed of the vehicle, avoid excessive speed after going downhill, and loss of some recoverable energy, and also avoid the situation where the speed is too slow after going downhill and the vehicle needs to accelerate again.

[0090] If the driving intention is to accelerate, it means that the vehicle's current speed is slow, and continuing downhill at this speed cannot meet the driver's driving speed requirements. The driver's driving needs are determined based on the opening and change rate of the vehicle's accelerator pedal, and then the target recovery torque for coasting energy recovery is determined.

[0091] Among them, the acceleration intention can be divided into a relatively gentle acceleration process and a relatively violent acceleration process according to the intensity of acceleration; in the relatively gentle acceleration process, the vehicle speed changes relatively slowly, and the use of a smaller target recovery torque for energy recovery in this process has less impact on the vehicle acceleration process. At this time, the second preset torque can be directly used to continue coasting energy recovery; in the more violent acceleration process, the vehicle speed changes relatively quickly. At this time, continuing to coast energy recovery is likely to affect the increase in vehicle speed, and the target recovery torque can be controlled to gradually decrease until it reaches zero so as not to affect the vehicle acceleration process.

[0092] In an embodiment of the present application, in response to the vehicle's operating condition satisfying an energy recovery condition, the vehicle's state is detected to determine whether the vehicle is in a downhill state. When the vehicle is determined to be in a downhill state based on the detection result, the vehicle's driving intention is determined based on the accelerator pedal position, and different coasting energy recovery strategies are implemented based on different driving intentions. Thus, when the vehicle's operating condition satisfies the energy recovery condition, the driver's intention is determined based on the accelerator pedal position to accelerate or coast the vehicle during the downhill drive, and different energy recovery strategies are proposed based on the two different intentions. During acceleration, coasting energy recovery is performed based on the accelerator pedal position and rate of change, reducing the impact of coasting energy recovery on vehicle speed during acceleration. During coasting, the target recovery torque for coasting energy recovery is adjusted based on vehicle speed, avoiding situations where a fixed torque for coasting energy recovery results in excessively high or low vehicle speeds. Consequently, in off-road mode, the impact of coasting energy recovery on user driving during the downhill drive is reduced.

[0093] In some embodiments, considering the characteristics of desert environments, such as the presence of numerous sand dunes, the tendency of vehicles to slip, and heavy loads, the coasting energy recovery control method of this embodiment is applied exclusively to coasting energy recovery in desert conditions. During desert driving, tires need to be deflated to prevent the vehicle from sinking into the sand. Monitoring tire pressure can be used to determine whether the vehicle is in desert driving conditions and, therefore, to determine whether to implement the corresponding energy recovery strategy.

[0094] The specific steps of determining whether the vehicle is in a sandy driving condition based on the vehicle tire pressure may include: obtaining a tire pressure value of the vehicle in response to satisfaction of an energy recovery condition corresponding to an off-road mode;

[0095] When the tire pressure value is less than the preset tire pressure value, detecting the state of the vehicle;

[0096] The method also includes:

[0097] When the tire pressure value is greater than or equal to a preset tire pressure value, obtaining a first preset torque;

[0098] A first preset torque is determined as the target recovery torque; wherein the first preset torque is the recovery torque when the intensity level of the coasting energy recovery is a strong level.

[0099] In an embodiment of the present application, when a vehicle is driving in a desert, it is necessary to deflate the tires to a pressure less than a fixed tire pressure value. The fixed tire pressure value can be used as a preset tire pressure value to determine whether the vehicle is in a desert driving condition. A tire pressure value greater than or equal to the preset tire pressure value indicates that the tire pressure of the vehicle tire is normal, indicating that the vehicle is not in a desert driving condition; and a tire pressure value less than the preset tire pressure value indicates that the vehicle tire is less than the normal tire pressure and meets the tire pressure required for desert driving, indicating that the vehicle is in a desert driving condition.

[0100] Among them, if the vehicle is in a desert driving condition, the energy recovery strategy of coasting energy recovery is further determined. If the vehicle is not in a desert driving condition, it means that the vehicle is traveling on muddy, snowy and other road conditions. In this case, the recovery torque with a strong intensity level of coasting energy recovery is used as the recovery torque of the drive motor to perform energy recovery, so that the vehicle can recover more energy in a short time.

[0101] Among them, the intensity of coasting energy recovery represents the deceleration of coasting energy recovery. The higher the deceleration, the stronger the coasting energy recovery intensity. The current vehicle coasting energy recovery is set at two levels: strong level and standard level. When the coasting energy recovery intensity is strong level, the vehicle recovers energy at a first preset torque. When the coasting energy recovery intensity is standard level, the vehicle recovers energy at a second preset torque. Among them, the greater the recovery torque, the greater the deceleration of the coasting energy recovery. The faster the vehicle decelerates, the first preset torque is greater than the second preset torque.

[0102] In some embodiments, step S103 specifically includes:

[0103] When the current opening is less than the first preset opening, determining that the driving intention is a coasting driving intention;

[0104] When the current opening degree is greater than or equal to the first preset opening degree, it is determined that the driving intention is an acceleration driving intention.

[0105] The first predetermined throttle opening represents the maximum throttle opening for coasting when the vehicle is in a downhill state. The specific value of this throttle opening can be calibrated under simulated sandy conditions. For example, if the predetermined throttle opening for coasting in a downhill state is determined by calibration to be 10%, then above this predetermined opening the vehicle will accelerate, while below this predetermined opening the vehicle will continue to coast. The system then determines whether the current throttle pedal opening is less than 10%. If it is less than 10%, it indicates that the vehicle will subsequently coast, and the driving intention is determined to be coasting. If it is greater than or equal to 10%, it indicates that the driver has a higher torque demand for the vehicle, i.e., the vehicle needs to accelerate, and the driving intention is determined to be acceleration.

[0106] In some embodiments, referring to FIG. 2 , FIG. 2 shows a flow chart of steps of an energy recovery strategy under a coasting driving intention. As shown in FIG. 2 , the strategy specifically includes:

[0107] Step S201 , obtaining a first preset torque; wherein the first preset torque is a recovery torque when the coasting energy recovery intensity level is a strong level.

[0108] Step S202: Determine the torque adjustment coefficient based on the current vehicle speed.

[0109] The torque adjustment coefficient is used to adjust the fixed torque of coasting energy recovery. By adjusting the vehicle speed, energy recovery can be performed quickly when the vehicle speed is high, and coasting energy recovery can be performed slowly or stopped when the vehicle speed is slow. Specifically, the torque adjustment coefficient is obtained by the following formula (1):

[0110] Wherein, μ is the torque adjustment coefficient, and V is the current speed of the vehicle.

[0111] Step S203 : determining a target regeneration torque based on the torque adjustment coefficient and the first preset torque.

[0112] Among them, when the vehicle is coasting, if the coasting energy recovery is directly performed with a fixed recovery torque, the vehicle may be too slow or too fast after going downhill. Both situations will make it difficult for the driver to accurately control the vehicle in complex scenarios; based on this, the embodiment of the present application provides an energy recovery strategy that changes with vehicle speed. By adjusting the recovery torque of the coasting energy recovery according to the vehicle speed when the vehicle is coasting, the vehicle's recovery torque is increased when the speed is too fast, and the vehicle's recovery torque is reduced or even exited when the speed is too slow. The vehicle's coasting speed can be maintained within a certain speed range, which is convenient for the driver to grasp the vehicle speed and thus accurately control the vehicle.

[0113] Specifically, the recovery torque α of coasting energy recovery is calculated as follows: α=μ×α1 Formula (2);

[0114] Wherein, α1 represents the first preset torque, and μ represents the torque adjustment coefficient; thus, the target recovery torque for coasting energy recovery is directly obtained according to the calculation formula, and the vehicle is controlled to perform coasting energy recovery according to the target recovery torque.

[0115] In some embodiments, the acceleration intention includes a slow acceleration type and a fast acceleration type. The two different types of acceleration intention represent different torque requirements of the driver, and therefore require different target regeneration torque determination methods. Therefore, it is necessary to first determine the type of the acceleration intention, and then determine the target regeneration torque acquisition method based on the type of the acceleration intention. Specifically, the following process may be involved:

[0116] First, based on the current opening degree and / or the current rate of change, the type of acceleration driving intention is determined;

[0117] When the acceleration driving intention is a fast acceleration type, the target regeneration torque is determined as a regeneration torque that decreases at a preset torque change rate starting from a first preset torque; wherein the first preset torque is the regeneration torque when the coasting energy regeneration intensity level is a strong level;

[0118] Among them, when the type of acceleration driving intention is a slow acceleration type, the second preset torque is used as the target recovery torque to continuously recover energy according to the target recovery torque; wherein, the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

[0119] Among them, if the driving intention is a fast acceleration type acceleration driving intention, then the opening of the accelerator pedal is large or the rate of change of the opening of the accelerator pedal is fast, indicating that the driver has a high engine torque demand, that is, the vehicle needs to accelerate quickly, then the coasting energy recovery during the acceleration process will hinder the acceleration process of the vehicle. At this time, it is necessary to exit the coasting energy recovery. However, directly turning off the coasting energy recovery is not conducive to vehicle driving in off-road scenarios. The vehicle is controlled to start from the first preset torque and gradually decrease at the preset torque change rate until the coasting energy recovery is exited, so that in the initial stage of vehicle acceleration, part of the gravitational potential energy is still converted into electrical energy during the downhill process of the vehicle, and no coasting energy recovery is performed in the subsequent process to avoid affecting the vehicle speed.

[0120] If the driving intention is a slow acceleration type of acceleration, the opening of the accelerator pedal is relatively small and the rate of change of the opening of the accelerator pedal is slow, indicating that the driver judges that the vehicle needs to accelerate, but the acceleration demand is not high. In the acceleration process, the coasting energy recovery has little effect on the vehicle speed increase, and coasting energy recovery can be performed. However, considering that a strong coasting energy recovery intensity level will cause the vehicle to decelerate too much, making it difficult for the vehicle to slowly accelerate to the speed required by the driver, the recovery torque of the coasting energy recovery is set to the second preset torque, that is, the recovery torque when the coasting energy recovery intensity level is the standard level. Under this torque, energy recovery can be achieved while avoiding affecting the vehicle speed.

[0121] The method for determining the type of acceleration intention specifically includes:

[0122] When the current opening is greater than or equal to a first preset opening and less than a second preset opening, comparing the current change rate with the preset change rate; wherein the first preset opening is less than the second preset opening;

[0123] If the current rate of change is less than or equal to the preset rate of change, the acceleration intention is determined to be a slow acceleration type;

[0124] If the current rate of change is greater than the preset rate of change, the acceleration intention is determined to be a fast acceleration type;

[0125] When the current opening degree is greater than or equal to the second preset opening degree, the type of the acceleration driving intention is determined to be a fast acceleration type.

[0126] In an embodiment of the present application, the type of acceleration intention is determined by whether the current opening of the accelerator pedal is less than a second preset opening. If the current opening is greater than or equal to the second preset opening, it indicates that the acceleration driving intention is a fast acceleration driving intention. If the current opening is less than the second preset opening, it is necessary to further determine whether the acceleration type is a slow acceleration type or a fast acceleration type based on the change rate of the accelerator pedal. If the change rate is greater than the preset change rate, it indicates that the change rate of the accelerator pedal is faster. At this time, the driving intention is an acceleration driving intention of the fast acceleration type. If the change rate is less than or equal to the preset change rate, it indicates that the change rate of the accelerator pedal is slower, and the driving intention is a slow acceleration type.

[0127] The embodiment of the present application divides the acceleration types into two categories by using the accelerator pedal opening and the rate of change of the accelerator pedal opening, and then adopts different gliding energy recovery strategies for the two types of driving intentions with different acceleration types; under the driving intentions of different acceleration types, gliding energy recovery is performed as much as possible, and at the same time, the impact of gliding energy recovery on the vehicle speed increase is reduced.

[0128] In some embodiments, different driving modes of the vehicle correspond to different energy recovery conditions. It is necessary to first determine the driving mode of the vehicle and, based on different driving modes, use different energy recovery conditions to determine whether the vehicle needs to perform coasting energy recovery.

[0129] Specifically, the vehicle's driving mode includes an off-road mode and a non-off-road mode; in the off-road mode, the energy recovery condition is that the vehicle's SOC value does not reach a first preset SOC value; in the non-off-road mode, the energy recovery condition is that the vehicle's SOC value does not reach a second preset SOC value; wherein the first preset SOC value is greater than the second preset SOC value.

[0130] In the embodiment of the present application, considering that in off-road mode, there are situations such as a heavy vehicle load and a rough road surface, the energy consumed to maintain the same driving speed is greater than that of driving on normal roads. Therefore, it is necessary to make the battery have a longer driving time to cope with the harsh environment of off-road mode. Therefore, when the vehicle is in off-road mode, the SOC value of the vehicle for coasting energy recovery is set to a first preset SOC value, and in non-off-road mode, the SOC value of the vehicle for coasting energy recovery is set to a second preset SOC value, wherein the first preset SOC value is greater than the second SOC value. As a result, when the vehicle is in off-road mode, charging begins at a relatively high remaining power level, allowing the vehicle to always maintain a high power level to support the vehicle's long-term driving ability under complex road conditions. The first preset SOC value and the second preset SOC value can both be obtained through calibration.

[0131] In some embodiments, considering that the off-road mode not only needs to have a longer driving time, but also needs to have the ability to quickly recover energy, it is necessary to determine an idle charging engine speed for the off-road mode that is different from that of the non-off-road mode, so that the power can be quickly replenished.

[0132] Specifically, when executing the energy recovery strategy in different driving modes, the method further includes:

[0133] When the driving mode of the vehicle is the off-road mode, setting the engine speed of the vehicle during idling charging to a first preset speed;

[0134] When the driving mode of the vehicle is non-off-road mode, setting the engine speed of the vehicle during idling charging to a second preset speed;

[0135] The first preset speed is higher than the second preset speed.

[0136] In an embodiment of the present application, by setting the engine speed of the vehicle idling charging in off-road mode to be higher than the engine speed of the vehicle idling charging in non-off-road mode, the vehicle can maintain a high-efficiency charging state in off-road mode, and the battery can be quickly replenished, thereby improving the battery life.

[0137] In some embodiments, if the slope is relatively gentle, it is difficult to perform coasting energy recovery while maintaining the vehicle speed. In this case, the slope value can be determined first, and then whether to perform coasting energy recovery can be determined based on the slope value. Specifically, when the vehicle is in a downhill state, the accelerator pedal opening and the accelerator pedal change rate of the vehicle are obtained, including:

[0138] When the vehicle is in a downhill state, detecting the slope of the vehicle;

[0139] When the slope is greater than or equal to a preset slope, obtaining the accelerator pedal opening and accelerator pedal change rate of the vehicle;

[0140] The method also includes:

[0141] When the slope is less than the preset slope, coasting energy recovery is turned off.

[0142] Among them, the preset slope can be a calibrated slope value with a small change in the vehicle speed under this situation. At this slope, the vehicle's coasting energy recovery will cause the vehicle to slow down and it will be difficult to meet the vehicle's driving needs.

[0143] Specifically, it is possible to first determine whether the vehicle is in a tilted state based on vehicle sensors, such as a horizontal gyroscope. If it is in a tilted state, obtain the height difference between the calibration points at the front and rear of the vehicle, and determine the slope value of the downhill slope where the vehicle is located based on the height difference and the horizontal distance; wherein the calibration points at the front and rear of the vehicle can be pre-set points at the front and rear of the vehicle, and the line between the two points is parallel to the horizontal ground.

[0144] The energy recovery control method provided in the embodiment of the present application improves the efficiency of the vehicle's coasting energy recovery while avoiding affecting the user's driving experience by formulating a targeted coasting energy recovery strategy according to the different driving intentions of the vehicle in the downhill state when the vehicle is in a downhill state. When going downhill, different energy recovery strategies are formulated according to different vehicle driving intentions, so that when the vehicle is in a coasting driving intention, a slow acceleration type acceleration driving intention, and a fast acceleration type acceleration driving intention, the vehicle will not be affected while recovering energy, thereby reducing the difficulty of vehicle driving in off-road conditions. In addition, the embodiment of the present application improves the efficiency of energy recovery in off-road conditions and the battery life by increasing the charging threshold of the vehicle SOC and the battery charging efficiency, thereby ensuring driving safety.

[0145] Referring to Figure 3, Figure 3 shows a control logic diagram of the energy recovery control method provided in an embodiment of the present application. As shown in Figure 3, taking the vehicle in a desert scene as an example, first, the vehicle's driving mode is obtained. If the vehicle is in a non-off-road mode, then in response to the satisfaction of the energy recovery conditions of the non-off-road mode, that is, when the vehicle SOC value is lower than 70%, coasting energy recovery is performed.

[0146] If the vehicle is in off-road mode, coasting energy recovery is performed in response to the off-road mode energy recovery condition being met, i.e., when the vehicle SOC value is less than 80%. If the energy recovery strategy of the embodiment of the present application is applied to any driving mode, further determination is made. If the energy recovery strategy of the embodiment of the present application is applied only to a desert scenario, considering that the desert scenario is only one of the off-road modes, a determination is made as to whether the current off-road mode is the desert off-road mode. In this case, the current driving scenario is determined by monitoring the vehicle tire pressure: whether the vehicle tire pressure is less than 1.5 bar. If it is greater than or equal to 1.5 bar, the vehicle is in the off-road mode for non-desert conditions. In this case, the vehicle is controlled to perform coasting energy recovery according to a first preset torque. If it is less than 1.5 bar, the vehicle is in the desert off-road mode. In this case, the vehicle slope is detected. If the slope is less than 10 degrees, energy recovery may affect normal driving of the vehicle, and therefore, coasting energy recovery is exited.

[0147] If it is detected that the vehicle's slope is greater than or equal to 10°, it is determined that the vehicle is in a downhill state and can perform coasting energy recovery. At this time, the opening of the vehicle's accelerator pedal is obtained through the sensor, and the rate of change of the vehicle's accelerator pedal opening is determined based on the current opening and time.

[0148] When it is detected that the accelerator pedal opening of the vehicle is less than 10%, it is determined that the vehicle is coasting. At this time, the target recovery torque for coasting energy recovery is determined according to formula (2).

[0149] When it is detected that the vehicle's accelerator pedal opening is between 10% and 50% and the accelerator pedal change rate is less than 30%, it is determined that the vehicle's driving intention is an acceleration driving intention of a slow acceleration type, and the second preset torque is determined as the target recovery torque.

[0150] When it is detected that the vehicle's accelerator pedal opening is between 10% and 50% and the accelerator pedal change rate is greater than or equal to 30%, or when the vehicle's accelerator pedal opening is greater than 50%, it is determined that the vehicle's driving intention is an acceleration driving intention of the fast acceleration type. At this time, the first preset torque is used as the initial recovery torque, and the initial torque is reduced at a rate of 50 N·m / s (Newton·m / second) until the coasting energy recovery is exited.

[0151] Among them, during the coasting energy recovery process, if the vehicle is in off-road mode, the engine speed of the vehicle's idle charging is set to a first preset speed, such as an engine speed of 3000 rpm (revolutions per minute), to improve the charging efficiency in off-road mode; and if the vehicle is in non-off-road mode, the engine speed of the vehicle's idle charging is set to a second preset speed, such as an engine speed of 1200 rpm, to fully consider the driver's comfort in driving the vehicle.

[0152] Based on the same inventive concept, referring to FIG. 4 , FIG. 4 shows a schematic structural diagram of an energy recovery control device provided in an embodiment of the present application. As shown in FIG. 4 , the device specifically includes:

[0153] A detection module 401 is configured to detect a vehicle state in response to the vehicle operating condition satisfying an energy recovery condition; wherein the energy recovery condition is used to determine whether the vehicle is performing coasting energy recovery;

[0154] An acquisition module 402 is configured to acquire a current opening degree and a current change rate of an accelerator pedal of the vehicle when the vehicle is in a downhill state;

[0155] The determination module 403 is used to determine the driving intention of the vehicle based on the current opening; wherein the driving intention includes coasting driving intention and accelerating driving intention;

[0156] Energy recovery module 404, used to trigger an energy recovery strategy corresponding to the driving intention to perform energy recovery;

[0157] The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed; wherein the target recovery torque is the recovery torque of the drive motor when the vehicle performs coasting energy recovery;

[0158] The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and the current change rate.

[0159] The embodiment of the present application detects the state of the vehicle in response to the vehicle's operating condition satisfying the energy recovery condition, and when the vehicle is in a downhill state, determines the vehicle's driving intention based on the opening of the vehicle's accelerator pedal, and then executes different coasting energy recovery strategies under different driving intentions; thereby, when the vehicle is in a downhill state, determines whether the driver intends to accelerate the vehicle or to coast the vehicle during the downhill process based on the opening of the vehicle's accelerator pedal, and then proposes different energy recovery strategies based on the two different intentions; wherein, during the acceleration process, coasting energy recovery is performed based on the opening and change rate of the accelerator pedal to reduce the impact of coasting energy recovery on the increase in vehicle speed during vehicle acceleration, and during the coasting process, the target recovery torque for coasting energy recovery is adjusted based on the vehicle speed to avoid the situation where the vehicle speed is too high or too low due to the use of a fixed torque for coasting energy recovery, thereby reducing the impact of coasting energy recovery on the user's driving of the vehicle during the downhill process.

[0160] In some feasible embodiments, the determining module 403 includes:

[0161] a first determining submodule, configured to determine that the driving intention is a coasting driving intention when the current opening degree is less than a first preset opening degree;

[0162] The second determining submodule is configured to determine that the driving intention is an acceleration driving intention when the current opening is greater than or equal to a first preset opening.

[0163] In some possible embodiments, the energy recovery module 404 includes:

[0164] A first acquisition submodule is configured to acquire a first preset torque; wherein the first preset torque is a recovery torque when the coasting energy recovery intensity level is a strong level;

[0165] a third determining submodule, configured to determine a torque adjustment coefficient based on a current vehicle speed;

[0166] The fourth determining submodule is configured to determine a target regeneration torque based on the torque adjustment coefficient and the first preset torque.

[0167] In some feasible embodiments, the acceleration driving intention includes a slow acceleration type and a fast acceleration type, and the energy recovery module 404 includes:

[0168] a fifth determining submodule, configured to determine a type of acceleration intention based on a current opening degree and / or a current rate of change;

[0169] a sixth determination submodule, configured to, when the acceleration driving intention is a fast acceleration type, determine the target regeneration torque as a regeneration torque that decreases from a first preset torque at a preset torque change rate; wherein the first preset torque is the regeneration torque when the coasting energy regeneration intensity level is a strong level;

[0170] The seventh determination submodule is used to use the second preset torque as the target recovery torque when the acceleration driving intention is a slow acceleration type, so as to continuously recover energy according to the target recovery torque; wherein the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

[0171] In some feasible embodiments, the acquisition module 402 includes:

[0172] The first detection submodule is used to detect the slope of the vehicle when the vehicle is in a downhill state;

[0173] A third acquisition submodule is used to obtain the accelerator pedal opening and the accelerator pedal change rate of the vehicle when the slope is greater than or equal to the preset slope;

[0174] The first control module is configured to disable coasting energy recovery when the slope is less than a preset slope.

[0175] In some feasible embodiments, the driving mode of the vehicle includes an off-road mode and a non-off-road mode;

[0176] In off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach the first preset SOC value;

[0177] In the non-off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach the second preset SOC value;

[0178] The first preset SOC value is greater than the second preset SOC value.

[0179] In some feasible embodiments, the apparatus further comprises:

[0180] a third control module, configured to set the engine speed of the vehicle during idle charging to a first preset speed when the driving mode of the vehicle is the off-road mode;

[0181] a fourth control module, configured to set the engine speed of the vehicle during idle charging to a second preset speed when the driving mode of the vehicle is non-off-road mode;

[0182] The first preset speed is higher than the second preset speed.

[0183] Based on the same inventive concept, an embodiment of the present application further provides a vehicle, which includes a control unit configured to execute the energy recovery control method of any of the above embodiments.

[0184] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

[0185] For simplicity of description, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that some of the embodiments described in this specification are preferred embodiments, and the actions and components involved are not necessarily required by this application.

[0186] The above is a detailed introduction to the energy recovery control method, device and vehicle provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for energy recovery, characterized in that: The method comprises: In response to the operating condition of the vehicle satisfying an energy recovery condition, detecting the state of the vehicle; wherein the energy recovery condition represents the operating condition of the vehicle performing coasting energy recovery; When the vehicle is in a downhill state, obtaining a current opening degree and a current change rate of an accelerator pedal of the vehicle; Based on the current opening degree, determining the driving intention of the vehicle; wherein the driving intention includes a coasting driving intention and an accelerating driving intention; triggering an energy recovery strategy corresponding to the driving intention to perform energy recovery; The energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed of the vehicle; wherein the target recovery torque is the recovery torque of the driving motor when the vehicle performs the coasting energy recovery; The energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening degree and / or the current change rate.

2. The energy recovery control method according to claim 1, characterized in that: In response to the operating condition of the vehicle satisfying an energy recovery condition, detecting the state of the vehicle includes: Obtaining the status of the accelerator pedal and the brake pedal of the vehicle; When the accelerator pedal and the brake pedal are not in an operating state, the state of the vehicle is detected.

3. The energy recovery control method according to claim 1, characterized in that: The determining the driving intention of the vehicle based on the current opening degree includes: When the current opening is less than a first preset opening, determining that the driving intention is the coasting driving intention; When the current opening is greater than or equal to the first preset opening, the driving intention is determined to be the acceleration driving intention.

4. The energy recovery control method according to claim 1, characterized in that: The determining the target recovery torque based on the current vehicle speed includes: Obtaining a first preset torque; wherein the first preset torque is a recovery torque when the strength level of the coasting energy recovery is a strong level; determining a torque adjustment coefficient based on the current vehicle speed; The target recovery torque is determined based on the torque adjustment coefficient and the first preset torque.

5. The energy recovery control method according to claim 1, characterized in that: The acceleration driving intention includes a slow acceleration type and a fast acceleration type; The determining the target recovery torque based on the current opening degree and / or the current change rate includes: determining the type of the acceleration driving intention based on the current opening degree and / or the current change rate; In the case where the type of the acceleration driving intention is the fast acceleration type, the target recovery torque is determined as a recovery torque that decreases from a first preset torque at a preset torque change rate; wherein the first preset torque is a recovery torque when the intensity level of the coasting energy recovery is a strong level; When the type of the acceleration driving intention is the slow acceleration type, the second preset torque is used as the target recovery torque to continuously perform energy recovery according to the target recovery torque; wherein the second preset torque is the recovery torque when the intensity level of the coasting energy recovery is the standard level.

6. The energy recovery control method according to claim 5, characterized in that: Determining the type of the acceleration driving intention based on the current opening degree and / or the current change rate includes: When the current opening is greater than or equal to a first preset opening and less than a second preset opening, comparing the current change rate with the preset change rate; wherein the first preset opening is less than the second preset opening; If the current change rate is less than or equal to the preset change rate, determining the type of the acceleration driving intention is the slow acceleration type; If the current rate of change is greater than the preset rate of change, determining that the type of the acceleration driving intention is the fast acceleration type; When the current opening is greater than or equal to the second preset opening, the type of the acceleration driving intention is determined to be the fast acceleration type.

7. The energy recovery control method according to claim 1, characterized in that: When the vehicle is in a downhill state, obtaining the accelerator pedal opening and the accelerator pedal change rate of the vehicle includes: When the vehicle is in a downhill state, detecting the slope of the position where the vehicle is located; When the slope is greater than or equal to a preset slope, obtaining the accelerator pedal opening and accelerator pedal change rate of the vehicle; The method further comprises: When the slope is less than the preset slope, the coasting energy recovery is turned off.

8. The energy recovery control method according to claim 1, characterized in that: The driving mode of the vehicle includes an off-road mode and a non-off-road mode; In the off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a first preset SOC value; In the non-off-road mode, the energy recovery condition is that the SOC value of the vehicle does not reach a second preset SOC value; Wherein, the first preset SOC value is greater than the second preset SOC value.

9. The energy recovery control method according to claim 8, characterized in that: Also includes: The non-off-road mode is a driving mode in which the vehicle is driven on ordinary roads, and the off-road mode is a driving mode in which the vehicle is driven on sandy, muddy and snowy roads.

10. The energy recovery control method according to claim 8, characterized in that: The method further comprises: When the driving mode of the vehicle is the off-road mode, setting the engine speed of the vehicle during idling charging to a first preset speed; When the driving mode of the vehicle is the non-off-road mode, setting the engine speed of the vehicle during idling charging to a second preset speed; Wherein, the first preset speed is higher than the second preset speed.

11. The energy recovery control method according to claim 8, characterized in that: The method further comprises: In response to the energy recovery condition corresponding to the off-road mode being satisfied, obtaining a tire pressure value of the vehicle; When the tire pressure value is less than a preset tire pressure value, detecting a state of the vehicle; When the tire pressure value is greater than or equal to the preset tire pressure value, obtaining a first preset torque; The first preset torque is determined as the target recovery torque; wherein the first preset torque is the recovery torque when the intensity level of the coasting energy recovery is a strong level, and the intensity of the coasting energy recovery represents the deceleration of the coasting energy recovery, and the higher the deceleration, the stronger the coasting energy recovery intensity.

12. The energy recovery control method according to claim 1, characterized in that: The method further comprises: When the vehicle is not in a downhill state, the coasting energy recovery is turned off.

13. A control device for energy recovery, characterized in that: The device comprises: A detection module, configured to detect a state of the vehicle in response to the operating condition of the vehicle satisfying an energy recovery condition; wherein the energy recovery condition represents an operating condition of the vehicle for coasting energy recovery; An acquisition module, used for acquiring a current opening degree and a current change rate of an accelerator pedal of the vehicle when the vehicle is in a downhill state; A determination module, configured to determine the driving intention of the vehicle based on the current opening; wherein the driving intention includes a coasting driving intention and an accelerating driving intention; An energy recovery module is used to trigger an energy recovery strategy corresponding to the driving intention to perform energy recovery; wherein, the energy recovery strategy corresponding to the coasting driving intention includes: determining a target recovery torque based on the current vehicle speed; wherein, the target recovery torque is the recovery torque of the drive motor when the vehicle performs the coasting energy recovery; the energy recovery strategy corresponding to the acceleration driving intention includes: determining the target recovery torque based on the current opening and the current change rate.

14. A vehicle, characterized in that: The vehicle comprises a control unit, and the control unit is used to execute the energy recovery control method described in any one of claims 1-12 above.

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