CN111143940A - Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium - Google Patents
Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium Download PDFInfo
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- CN111143940A CN111143940A CN201911318598.8A CN201911318598A CN111143940A CN 111143940 A CN111143940 A CN 111143940A CN 201911318598 A CN201911318598 A CN 201911318598A CN 111143940 A CN111143940 A CN 111143940A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The application provides a triggering method and device for vehicle sliding energy recovery, electronic equipment and a storage medium, wherein the method comprises the following steps: when the fact that the vehicle enters a sliding state is detected, determining the sliding speed of the vehicle at the current moment; acquiring the sliding speed of a vehicle at a historical moment; determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and a sliding speed prediction model; determining the wheel-side braking torque demand based on the sliding speed at the current moment and the sliding speed at the moment to be estimated; determining the required braking torque of the motor end according to the vehicle attribute information and the wheel side required braking torque; and sending the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy. Therefore, the sliding energy recovery can be carried out in a proper amount, the driving feeling is not influenced by overlarge sliding energy recovery, and the energy recovery efficiency is not lower due to the undersize sliding energy recovery.
Description
Technical Field
The present disclosure relates to the field of automotive technologies, and in particular, to a method and an apparatus for triggering vehicle sliding energy recovery, an electronic device, and a storage medium.
Background
The hybrid electric vehicle is the mainstream of the current new energy vehicle, the sliding energy recovery function is the necessary function of the hybrid electric vehicle, and when the vehicle runs, the sliding energy is recovered into the energy storage unit through the motor, so as to provide power for the subsequent power demand. The current braking sliding energy recovery strategy of the intelligent driving vehicle is generally controlled based on the intention of a driver, and when the driver encounters a red light or other road conditions in a city, the driver completely releases an accelerator pedal to keep the vehicle sliding. The sliding inertia of the whole vehicle is utilized to drive the generator to generate electricity, so that the sliding energy is recovered and stored in the power battery to be used for driving the vehicle, or the whole vehicle is used for the next starting of the whole vehicle by using a composite power supply or a super capacitor.
In the prior art, in some schemes, a minimum vehicle speed value for performing braking and coasting energy recovery at a distance is calculated by detecting a distance value between the vehicle and a vehicle ahead, and when a real-time vehicle speed is greater than the minimum vehicle speed value for performing braking and coasting energy recovery, braking and coasting energy recovery is performed until the vehicle speed of the vehicle is less than the minimum vehicle speed value for performing braking and coasting energy recovery on the vehicle. These solutions do not make a specific analysis of the calculation method of the braking torque.
Some schemes obtain an initial recovery torque and a target recovery torque under the current vehicle speed by obtaining the running parameters and the gradient signals of the current vehicle; and sending the target recovery torque to the motor to trigger the motor to recover energy. These schemes only consider the effect of grade on brake torque and do not consider the effect of real-time acceleration on brake torque.
Disclosure of Invention
The method and the device aim to solve the technical problem that the sliding energy cannot be effectively recovered due to insufficient comprehensive design consideration of the conventional vehicle sliding energy recovery method and device.
In order to solve the technical problem, a first aspect of the embodiments of the present application discloses a method for triggering vehicle coasting energy recovery, including:
when the fact that the vehicle enters a sliding state is detected, determining the sliding speed of the vehicle at the current moment;
acquiring the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and a sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
determining the wheel-side braking torque demand based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
determining the required braking torque of the motor end according to the vehicle attribute information and the wheel side required braking torque;
and sending the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy.
Further, determining the sliding speed at the time to be estimated according to the sliding speed at the current time, the sliding speed at the historical time and the sliding speed prediction model, wherein the determining step comprises the following steps:
determining preset parameters of a sliding speed prediction model according to the current time, the sliding speed at the current time, the historical time and the sliding speed at the historical time;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
Further, determining the wheel-side required braking torque based on the coasting speed at the current time and the coasting speed at the time to be predicted includes:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
the wheel-side required braking torque is determined based on the coasting acceleration at the present time and the coasting speed at the present time.
Further, the vehicle attribute information includes vehicle mass, vehicle transmission ratio information, and motor efficiency.
In a second aspect of the embodiments of the present application, a triggering device for recovering energy generated by vehicle sliding is disclosed, which is characterized in that the device includes:
the determining module is used for determining the sliding speed of the vehicle at the current moment when the vehicle is detected to enter the sliding state;
the acquisition module is used for acquiring the sliding speed of the vehicle at historical time;
the determining module is used for determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
the determining module is used for determining the wheel side braking torque demand based on the sliding speed at the current moment and the sliding speed at the moment to be predicted;
the determining module is used for determining the braking torque required by the motor end according to the vehicle attribute information and the wheel edge braking torque;
and the trigger module is used for sending the braking torque required by the motor end to the motor and triggering the motor to recover the sliding energy.
Further, the determining module is specifically configured to:
determining preset parameters of a sliding speed prediction model according to the current time, the sliding speed at the current time, the historical time and the sliding speed at the historical time;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
Further, the determining module is specifically configured to:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
the wheel-side required braking torque is determined based on the coasting acceleration at the present time and the coasting speed at the present time.
Further, the vehicle attribute information includes vehicle mass, vehicle transmission ratio information, and motor efficiency.
In a third aspect of the embodiments of the present application, an electronic device is disclosed, where the electronic device includes a processor and a memory, where at least one instruction, at least one program, a code set, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement a triggering method for vehicle coasting energy recovery.
A fourth aspect of embodiments of the present application discloses a computer-readable storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement a triggering method for recovering energy from coasting of a vehicle.
By adopting the technical scheme, the application has the following beneficial effects:
according to the triggering method for vehicle sliding energy recovery, the sliding speed and the sliding acceleration at the moment to be estimated can be determined according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model, and the motor end required braking torque which is updated in real time is obtained, so that the motor end required braking torque can be sent to the motor in real time. Because the transmitted motor end required braking torque is real-time, the motor is triggered to perform sliding energy recovery, so that the sliding energy recovery can be performed in a proper amount, the driving feeling is not influenced by overlarge sliding energy recovery, and the energy recovery efficiency is not lower due to undersize sliding energy recovery.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for triggering recovery of vehicle coasting energy according to an embodiment of the present disclosure;
FIG. 2 is a detailed flowchart of a triggering method for recovering energy during vehicle coasting according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a triggering device for recovering energy generated by coasting of a vehicle according to an embodiment of the present application;
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
The following describes a specific embodiment of a triggering method for vehicle coasting energy recovery of the present application, fig. 1 is a schematic flow chart of the triggering method for vehicle coasting energy recovery provided by the embodiment of the present application, and the present specification provides the method operation steps as in the embodiment or the flow chart, but more or less operation steps can be included based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:
s101, when the fact that the vehicle enters a sliding state is detected, determining the sliding speed of the vehicle at the current moment; the method for detecting whether the vehicle enters the sliding state can be to judge whether an accelerator pedal and a brake pedal are not pressed down, and if so, judge that the vehicle enters the sliding state.
S102, acquiring the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
in the embodiment of the application, the historical time at which the coasting speed at the historical time is obtained is also located at a certain time when the vehicle is in the coasting state. For example, if the vehicle is in a normal driving state between 14 and 55 minutes and 15 minutes, and the time from 15 to the time when the vehicle stops coasting (e.g., 15 and zero 20 seconds) is the time period of the vehicle in the coasting state, that is, the time point at which the vehicle enters the coasting state at 15, the historical time must be between 15 and zero 20 seconds.
S103, determining the sliding speed of the moment to be estimated according to the sliding speed of the current moment, the sliding speed of the historical moment and a sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
the coasting speed at the current moment can be defined as y (t), the coasting speed at the previous sampling moment y (t-k), and the vehicle speed at the second previous sampling moment y (t-2 x k), where k is a sampling step length, and can be defined as numerical values of 1s,0.1s, 0.01s.0.001s.0.002s, and specific sampling step lengths can be set according to various conditions, such as different processors.
The taxi speed prediction model can be an exponential function-based prediction model, and y ═ aebxWherein y is the sliding speed at the moment to be estimated; x is time; a and b are preset parameters of the model; e is a natural logarithm;
logarithms are taken on two sides by using a least square method to obtain lny which is lna + bx;
defining the sliding speed of the next sampling moment at the moment to be estimated as y (t + k)
Calculating the sliding speed y (t + k) at the moment to be estimated in real time based on a Matlab function, wherein the input of a mode is an array Vel of the current moment and the preorder vehicle speed, wherein Vel is [ y (t-k) and y (t) ], and the output of the model is the y (t + k) predicted vehicle speed; determining preset parameters a and b of a sliding speed prediction model according to the current time t, the sliding speed y (t) at the current time, the historical time t-k and the sliding speed y (t-k) at the historical time; and determining the sliding speed y (t + k) at the moment to be estimated according to the moment t + k to be estimated and the sliding speed prediction model for determining the preset parameters.
Continuing with step S103 based on the time example in step S102 described above, assuming that the sampling time duration between the current time and the historical time is k 1 second, and setting the current time as 15 points and zero for 3 seconds, the historical time may be 15 points and zero for 2 seconds, the time to be estimated may be 15 points and zero for 4 seconds, assuming that the obtained coasting speed at 15 points and zero for 2 seconds at the historical time is the first speed V1, the obtained speed at 15 points and zero for 3 seconds at the current time is the third speed V2, and the speed at 15 points and zero for 4 seconds to be estimated is V3, the coasting speed V4 at the time to be estimated may be determined according to the first speed V1, the second speed V2, and the coasting speed prediction model.
An optional implementation mode for determining the coasting speed at the time to be estimated according to the coasting speed at the current time, the coasting speed at the historical time and the coasting speed prediction model is as follows:
determining preset parameters a and b of a sliding speed prediction model according to the sliding speed V1 of zero 2 seconds at the historical time 15 point at the current time and the sliding speed V2 of zero 3 seconds at the historical time 15 point at the current time; and then determining the sliding speed V3 of the moment to be estimated according to the zero 4 seconds at the moment 15 to be estimated and the sliding speed prediction model determining the preset parameters.
S104, determining the wheel side braking torque demand based on the sliding speed at the current moment and the sliding speed at the moment to be predicted according to the following specific implementation mode:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated; assuming that the coasting acceleration at the current time is a (t), a (t) is (V3-V2)/1, i.e., the difference between the coasting speed at the time to be estimated and the coasting speed at the current time is divided by the sampling time period.
And then determining the wheel side braking torque demand according to the sliding acceleration and the sliding speed at the current moment. The specific implementation manner of determining the wheel-side required braking torque according to the coasting acceleration at the current time and the coasting speed at the current time is as follows:
firstly, establishing a longitudinal dynamic model of the whole vehicle as follows:
wherein T (t) is the wheel-side required torque of the hybrid electric vehicle at the time t and has the unit of N.m; delta is a rotating mass conversion coefficient; m is the equipment mass of the hybrid electric vehicle, and the unit is kg; a (t) is the sliding acceleration at the current moment in m/s2；CdThe wind resistance coefficient of the hybrid electric vehicle is shown; a is the frontal area in m2(ii) a Rho is the air density in kg/m3(ii) a v (t) is the sliding speed at the current moment and the unit is m/s2(ii) a g is the acceleration of gravity in units ofm/s2(ii) a Theta is a gradient angle; mu is rolling resistance coefficient; r is the wheel radius in m.
The wheel-side required braking torque t (t) is determined from the model.
S105, determining the required braking torque of the motor end according to the vehicle attribute information and the wheel side required braking torque; in one implementation, the vehicle attribute information may include vehicle mass, vehicle transmission ratio information, and motor efficiency.
And S106, sending the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy.
The following describes a specific embodiment of a method for triggering vehicle coasting energy recovery according to the present application, and fig. 2 is a detailed flowchart of the method for triggering vehicle coasting energy recovery according to the present application, including:
s201: when the fact that the vehicle enters the sliding state is detected, determining the sliding speed of the vehicle at the current moment, wherein the historical moment is the moment of the vehicle in the sliding state;
s202: acquiring the sliding speed of a vehicle at a historical moment; the historical time is the time when the vehicle is in a coasting state;
s203: determining preset parameters of a sliding speed prediction model according to the current time, the sliding speed at the current time, the historical time and the sliding speed at the historical time;
s204: and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
S205: determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
s206: the wheel-side required braking torque is determined based on the coasting acceleration at the present time and the coasting speed at the present time.
S207, determining the required braking torque of the motor end according to the vehicle attribute information and the wheel side required braking torque;
and S208, sending the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy.
The triggering method for vehicle sliding energy recovery provided by the embodiment of the application can determine the sliding speed and the sliding acceleration at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model to obtain the real-time updated motor end required braking torque, wherein the sampling duration between the current moment and the historical moment can be selected according to the requirement, for example, the sampling duration can be 0.1s, 0.2s and the like, so that the motor end required braking torque can be sent to a motor in real time. Because the motor end demand braking torque that should send is real-time, it is real-time also to trigger the motor and carry out energy recuperation that slides, so, can be in right amount carry out energy recuperation, neither can be because of the too big driving experience that influences of energy recuperation that slides, also can not be because of the energy recuperation undersize that slides leads to energy recuperation efficiency lower, at the center of prior art, do not calculate the energy recuperation that slides based on the speed of a motor prediction, generally all be preset fixed and slide the recuperation torque, just can cause the following condition: sometimes, the sliding torque is too large, resulting in a strong braking feeling, and sometimes, the braking torque is too small, resulting in a loss of part of the recovered energy.
The embodiment of the application discloses trigger device that vehicle slideed energy recuperation, and fig. 3 is the schematic structural diagram of this trigger device that vehicle slideed energy recuperation, and the device includes:
the determining module 301 is configured to determine a coasting speed of the vehicle at a current time when it is detected that the vehicle enters a coasting state;
an obtaining module 302, configured to obtain a coasting speed of a vehicle at a historical time;
the determining module 301 is further configured to determine the sliding speed at the time to be estimated according to the sliding speed at the current time, the sliding speed at the historical time, and a sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
the determining module 301 is configured to determine a wheel-side required braking torque based on a sliding speed at a current time and a sliding speed at a time to be predicted;
the determining module 301 is configured to determine a required braking torque of a motor end according to the vehicle attribute information and the wheel side required braking torque;
and the triggering module 303 is configured to send the braking torque required by the motor end to the motor, and trigger the motor to perform sliding energy recovery.
In this embodiment of the application, the determining module 301 is specifically configured to:
determining preset parameters of a sliding speed prediction model according to the current time, the sliding speed at the current time, the historical time and the sliding speed at the historical time;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
Determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
the wheel-side required braking torque is determined based on the coasting acceleration at the present time and the coasting speed at the present time.
In the embodiment of the application, the vehicle attribute information can comprise the whole vehicle mass, the vehicle transmission system speed ratio information and the motor efficiency.
The method and the device in the embodiment of the application are based on the same application concept.
In a third aspect of the embodiments of the present application, an electronic device is disclosed, where the electronic device includes a processor and a memory, where at least one instruction, at least one program, a code set, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement a triggering method for vehicle coasting energy recovery.
A fourth aspect of embodiments of the present application discloses a computer-readable storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement a triggering method for recovering energy from coasting of a vehicle.
Optionally, in this embodiment of the present application, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (10)
1. A method of triggering recovery of coasting energy of a vehicle, the method comprising:
when the fact that the vehicle enters a coasting state is detected, determining the coasting speed of the vehicle at the current moment;
acquiring the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
determining the sliding speed of the moment to be estimated according to the sliding speed of the current moment, the sliding speed of the historical moment and a sliding speed prediction model; the time length between the current time and the historical time is consistent with the time length between the time to be estimated and the current time;
determining wheel-side required braking torque based on the sliding speed at the current moment and the sliding speed at the moment to be predicted;
determining the required braking torque of the motor end according to the vehicle attribute information and the wheel side required braking torque;
and sending the braking torque required by the motor end to a motor, and triggering the motor to recover the sliding energy.
2. The method of claim 1, wherein determining the coasting speed at the time to be predicted according to the coasting speed at the current time, the coasting speed at the historical time and a coasting speed prediction model comprises:
determining preset parameters of the sliding speed prediction model according to the current time, the sliding speed at the current time, the historical time and the sliding speed at the historical time;
and determining the sliding speed of the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining preset parameters.
3. The method of claim 1, wherein determining a wheel-side demand braking torque based on the coasting speed at the current time and the coasting speed at the time to be predicted comprises:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
determining the wheel-side required braking torque based on the coasting acceleration at the present time and the coasting speed at the present time.
4. The method of claim 1, wherein the vehicle attribute information includes vehicle mass, vehicle driveline ratio information, and motor efficiency.
5. An apparatus for triggering recovery of energy from coasting of a vehicle, said apparatus comprising:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining the sliding speed of the vehicle at the current moment when the vehicle is detected to enter the sliding state;
the obtaining module is used for obtaining the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
the determining module is used for determining the sliding speed of the moment to be estimated according to the sliding speed of the current moment, the sliding speed of the historical moment and a sliding speed prediction model; the time length between the current time and the historical time is consistent with the time length between the time to be estimated and the current time;
the determining module is used for determining the wheel side braking torque demand based on the sliding speed at the current moment and the sliding speed at the moment to be predicted;
the determining module is used for determining the braking torque required by the motor end according to the vehicle attribute information and the wheel edge braking torque required;
and the triggering module is used for sending the braking torque required by the motor end to the motor and triggering the motor to recover the sliding energy.
6. The apparatus of claim 5, wherein the determining module is specifically configured to:
determining preset parameters of the sliding speed prediction model according to the current time, the sliding speed at the current time, the historical time and the sliding speed at the historical time;
and determining the sliding speed of the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining preset parameters.
7. The apparatus of claim 5, wherein the determining module is specifically configured to:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
determining the wheel-side required braking torque based on the coasting acceleration at the present time and the coasting speed at the present time.
8. The apparatus of claim 5, wherein the vehicle attribute information includes vehicle mass, vehicle driveline ratio information, and motor efficiency.
9. An electronic device, comprising a processor and a memory, wherein at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and wherein the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the method for triggering recovery of coasting energy of a vehicle according to any one of claims 1 to 4.
10. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the method of triggering recovery of coasting energy of a vehicle as claimed in any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911318598.8A CN111143940B (en) | 2019-12-19 | 2019-12-19 | Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium |
Applications Claiming Priority (1)
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