CN104228591B - A kind of regenerating braking energy recycling and control method and device - Google Patents
A kind of regenerating braking energy recycling and control method and device Download PDFInfo
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- CN104228591B CN104228591B CN201410531559.7A CN201410531559A CN104228591B CN 104228591 B CN104228591 B CN 104228591B CN 201410531559 A CN201410531559 A CN 201410531559A CN 104228591 B CN104228591 B CN 104228591B
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Abstract
The invention discloses a kind of regenerating braking energy recycling and control method and device, relate to Control of Electric Vehicles field, described method includes: the opening degree data of the gear signal of electric automobile, accelerator pedal or brake pedal in acquisition traveling；Whether the gear signal acquired in judgement is forward signal；If described gear signal is forward signal, then according to the opening degree data of described accelerator pedal or brake pedal, the deceleration intention of driver is judged；When determining the deceleration intention of driver, obtain the state of charge data of electric automobile power battery, and according to described state of charge data, the regenerating braking energy of electric automobile is converted into electric energy, and stores to electrokinetic cell.The present invention is by reclaiming regenerating braking energy, it is possible to make driver obtain more preferably driver comfort, increases electric automobile and exercises mileage, extends the brake lining life-span.
Description
Technical field
The present invention relates to Control of Electric Vehicles field, the regenerating braking energy particularly to a kind of electric automobile reclaims
Control method and relevant device.
Background technology
When electric vehicle brake, regenerative braking torque drives traction electric machine to be operated in Generator Status, and by institute
The kinetic energy produced changes into electric energy by the rotation of tire, and in produced electrical power storage to electrokinetic cell, this is right
Extend electric motor car distance travelled and produce material impact.
External relevant research shows, under there is the city operating mode service condition braked more frequently and start, returns
Receiving braking energy can make the continual mileage of electric automobile extend 10 to percent three ten.
Research braking energy of electric automobiles reclaims, and appropriate design braking force distribution control strategy makes full use of the energy,
Electric motor car can be made to increase continual mileage to greatest extent.
Summary of the invention
It is an object of the invention to provide a kind of regenerating braking energy recycling and control method and device, can be the most logical
The braking intention crossing perception driver controls regenerating braking energy recovery.
According to an aspect of the invention, it is provided a kind of regenerating braking energy recycling and control method, including:
The opening degree data of the gear signal of electric automobile, accelerator pedal or brake pedal in acquisition traveling；
Whether the gear signal acquired in judgement is forward signal；
If described gear signal is forward signal, then according to described accelerator pedal or the opening degree of brake pedal
Data, judge the deceleration intention of driver；
When determining the deceleration intention of driver, obtain the state of charge data of electric automobile power battery, and root
According to described state of charge data, the regenerating braking energy of electric automobile is converted into electric energy, and stores to power current
Chi Zhong.
Preferably, the described step judging the deceleration intention of driver includes:
Described accelerator pedal arranges the first stroke sensor；
Utilize described first stroke sensor, gather the opening degree data of described accelerator pedal；
The opening degree data of the accelerator pedal collected are compared with default accelerator pedal opening degree threshold value；
When the opening degree data of the accelerator pedal collected are less than described default accelerator pedal opening degree threshold value,
Determine the deceleration intention of driver.
Preferably, described according to described state of charge data, the regenerating braking energy of electric automobile is converted into
Electric energy, and the step stored to electrokinetic cell includes:
Described state of charge data are compared with default state of charge data threshold；
When described state of charge data are less than when presetting state of charge data threshold, obtain electric automobile current vehicle
Speed；
In default regenerative braking moment mapping table, search the regenerative braking moment number corresponding with described speed
According to, and the regenerative braking moment data found are sent to electric machine controller, for electric machine controller according to described
Regenerative braking torque data, are converted into electric energy by the regenerating braking energy that motor produces, store to electrokinetic cell.
Preferably, the described step judging the deceleration intention of driver includes:
Described brake pedal arranges the second stroke sensor；
Utilize described second stroke sensor, gather the opening degree data of described brake pedal；
When the opening degree data of the brake pedal collected are more than zero, determine the deceleration intention of driver.
Preferably, described according to described state of charge data, the regenerating braking energy of electric automobile is converted into
Electric energy, and the step stored to electrokinetic cell includes:
Described state of charge data are compared with default state of charge data threshold；
When described state of charge data are less than when presetting state of charge data threshold, obtain electric automobile current vehicle
Speed；
In default regenerative braking moment mapping table, search the regenerative braking moment number corresponding with described speed
According to, and the regenerative braking moment data found are sent to electric machine controller, for electric machine controller according to described
Regenerative braking torque data, are converted into electric energy by the regenerating braking energy that motor produces, store to electrokinetic cell.
Preferably, also include:
In default total braking force mapping table, search the total system corresponding with the opening degree data of described brake pedal
Kinetic moment；
Utilize described total braking force square and regenerative braking moment data, calculate hydraulic braking moment；
Hydraulic braking moment is sent to electronic stabilizing control system, for described electronic stabilizing control system according to
Described hydraulic braking moment controls the hydraulic braking force being applied in the brake lining of brake fluid system.
Preferably, also include:
Store to during electrokinetic cell, to electric automobile the regenerating braking energy of electric automobile being converted into electric energy
The starting state of anti-lock brake system detect；
When detecting that described anti-lock brake system has been turned on, stop the regenerative braking energy of conversion electric automobile
Amount.
According to a further aspect in the invention, it is provided that a kind of regenerating braking energy recovery control device, including:
Data acquisition module, steps on for the gear signal of electric automobile, accelerator pedal or the braking obtained in traveling
The opening degree data of plate；
First judge module, for judging whether acquired gear signal is forward signal；
Second judge module, is used for when described first judge module judges that gear signal is forward signal,
Opening degree data according to described accelerator pedal or brake pedal, judge the deceleration intention of driver；
Energy recovery module, for when determining the deceleration intention of driver, obtains electric automobile power battery
State of charge data, and according to described state of charge data, the regenerating braking energy of electric automobile is converted into electricity
Can, and store to electrokinetic cell.
Preferably, described data acquisition module includes:
The first stroke sensor being arranged on accelerator pedal, is used for gathering the folding number of degrees of described accelerator pedal
According to, add less than described presetting in the opening degree data determining collected accelerator pedal for the second judge module
During speed pedal opening degree threshold value, determine the deceleration intention of driver；
The second stroke sensor being arranged on brake pedal, is used for gathering the folding number of degrees of described brake pedal
According to, for the second judge module when the opening degree data determining collected brake pedal are more than zero, determine
The deceleration intention of driver.
Preferably, described state of charge data are entered by described energy recovery module with default state of charge data threshold
Row compares, and when described state of charge data are less than when presetting state of charge data threshold, obtains electric automobile current
Speed, in default regenerative braking moment mapping table, searches the regenerative braking moment number corresponding with described speed
According to, and the regenerative braking moment data found are sent to electric machine controller, for electric machine controller according to described
Regenerative braking torque data, are converted into electric energy by the regenerating braking energy that motor produces, store to electrokinetic cell.
Compared with prior art, the beneficial effects of the present invention is:
The present invention braking intention by perception driver, reclaims regenerating braking energy, it is possible to make driving
Member obtains more preferably driver comfort, increases electric automobile and exercises mileage, extends the brake lining life-span.
Accompanying drawing explanation
Fig. 1 is the regenerating braking energy recycling and control method theory diagram that the embodiment of the present invention provides；
Fig. 2 is the regenerating braking energy recovery control device block diagram that the embodiment of the present invention provides；
Fig. 3 is the regenerative braking energy reclaiming system schematic diagram that the embodiment of the present invention provides；
Fig. 4 is that the regenerating braking energy that the embodiment of the present invention provides reclaims control flow chart；
Fig. 5 is that the regenerative braking torque that the embodiment of the present invention provides selects switch to close with accelerator pedal, regenerative braking
It it is schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing to a preferred embodiment of the present invention will be described in detail, it will be appreciated that described below
Preferred embodiment be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Fig. 1 is the regenerating braking energy recycling and control method theory diagram that the embodiment of the present invention provides, such as Fig. 1 institute
Show, including:
Step S101: obtain opening of the gear signal of electric automobile, accelerator pedal or brake pedal in travelling
Right data.
In electric automobile, gear signal at least include forward (D) signal, neutral position (N) signal,
Backing car gear (R) signal and parking stall (P) signal, can arrange position sensor, pass through speed changer gear operation
The corresponding gear operating lever position-signal that position sensing device between bar and cooperating therewith position obtains, thus really
Fixed concrete gear signal.
First stroke sensor can be set on accelerator pedal, and utilize the first stroke sensor, gather and accelerate
The opening degree data of pedal.
Second stroke sensor can be set on brake pedal, and utilize the second stroke sensor, gather braking
The opening degree data of pedal.
Step S102: whether the gear signal acquired in judgement is forward signal.
Step S103: if gear signal is forward signal, then opening according to accelerator pedal or brake pedal
Right data, judge the deceleration intention of driver.
When the deceleration intention of driver is judged, specifically include following two situation:
The first: during driver's release the gas pedal, the acceleration that the first stroke sensor is collected is stepped on
The opening degree data of plate compare with default accelerator pedal opening degree threshold value, if the accelerator pedal collected
Opening degree data less than preset accelerator pedal opening degree threshold value, it is determined that driver has deceleration intention；
The second: after driver is totally released accelerator pedal, it is judged that the braking that the second stroke sensor collects is stepped on
Whether the opening degree data of plate are more than zero, if it is greater than zero, then determine that driver has deceleration intention.
Step S104: when determining the deceleration intention of driver, obtains the electric charge shape of electric automobile power battery
State data, and according to state of charge data, the regenerating braking energy of electric automobile is converted into electric energy, and stores
To electrokinetic cell.
When regenerating braking energy is reclaimed, first by state of charge data and default state of charge data threshold
Compare, when state of charge data are less than when presetting state of charge data threshold, obtain electric automobile current vehicle
Speed；Then, in default regenerative braking moment mapping table, the regenerative braking moment data corresponding with speed are searched,
And the regenerative braking moment data found are sent to electric machine controller, electric machine controller is according to regenerative braking torque
Data, are converted into electric energy by the regenerating braking energy that motor produces, store to electrokinetic cell.
For above-mentioned the second situation, i.e. after driver's brake pedal, need at default total braking force
In mapping table, search the total braking force square corresponding with the opening degree data of brake pedal, and utilize total braking force square
With regenerative braking moment data, calculate hydraulic braking moment, then hydraulic braking moment is sent to electronic stability
Control system, controls to be applied to brake fluid system according to hydraulic braking moment for electronic stabilizing control system
Hydraulic braking force in brake lining.
It should be noted that and store to the electrokinetic cell phase the regenerating braking energy of electric automobile is converted into electric energy
Between, the starting state of the anti-lock brake system of electric automobile is detected, anti-locking braking once detected
When system has been turned on, need to stop the regenerating braking energy of electric automobile is converted to electric energy, i.e. stop regeneration system
Energy reclaims.
Above-mentioned state of charge data can be the ratio that electrokinetic cell dump energy accounts for electrokinetic cell total capacity, described
The span presetting state of charge data threshold is [90%, 99%], such as, can be 95%, i.e. state of charge
When data are below 95%, regenerating braking energy recovery can be carried out.
Fig. 2 is the regenerating braking energy recovery control device block diagram that the embodiment of the present invention provides, as in figure 2 it is shown,
Including data acquisition module the 201, first judge module the 202, second judge module 203, energy recovery module
204。
Data acquisition module 201 is for obtaining the gear signal of electric automobile, accelerator pedal or the braking in traveling
The opening degree data of pedal.Wherein, data acquisition module 201 include position sensor, the first stroke sensor,
Second stroke sensor, specifically, gear signal at least includes forward signal, neutral position signal, falls
Car gear signal and parking stall signal, filled by the position sensing between gear operating lever and cooperating therewith position
Put the corresponding gear operating lever position-signal of acquisition, so that it is determined that concrete gear signal；The folding of accelerator pedal
Degrees of data can be existed for the second judge module by the first stroke sensor acquisition being arranged on accelerator pedal
Determine that the opening degree data of collected accelerator pedal, less than when presetting accelerator pedal opening degree threshold value, determine and drive
The deceleration intention of the person of sailing；The opening degree data of brake pedal can be by the second stroke being arranged on brake pedal
For the second judge module, sensor acquisition, is determining that the opening degree data of collected brake pedal are more than zero
Time, determine the deceleration intention of driver.
First judge module 202 is for judging whether acquired gear signal is forward signal.
Second judge module 203 is used for when the first judge module judges that gear signal is forward signal, root
According to the opening degree data of accelerator pedal or brake pedal, the deceleration intention of driver is judged.Specifically,
During driver's release the gas pedal, the second judge module 203 is by adding that the first stroke sensor is collected
The opening degree data of speed pedal compare with default accelerator pedal opening degree threshold value, if the acceleration collected
The opening degree data of pedal are less than presetting accelerator pedal opening degree threshold value, it is determined that driver has deceleration intention；Drive
After the person of sailing is totally released accelerator pedal, the second judge module 203 judges the braking that the second stroke sensor collects
Whether the opening degree data of pedal are more than zero, if it is greater than zero, then determine that driver has deceleration intention.
Energy recovery module 204, for when determining the deceleration intention of driver, obtains electric automobile power battery
State of charge data, and according to state of charge data, the regenerating braking energy of electric automobile is converted into electric energy,
And store to electrokinetic cell.Specifically, energy recovery module is by state of charge data and default state of charge
Data threshold compares, and when state of charge data are less than when presetting state of charge data threshold, obtains electronic vapour
Car current vehicle speed, in default regenerative braking moment mapping table, searches the regenerative braking moment corresponding with speed
Data, and the regenerative braking moment data found are sent to electric machine controller, for electric machine controller according to again
Raw brake torque data, is converted into electric energy by the regenerating braking energy that motor produces, stores to electrokinetic cell.
Need it is further noted that after driver's brake pedal, need to reflect at default total braking force
In firing table, search the total braking force square corresponding with the opening degree data of brake pedal, and utilize total braking force square and
Regenerative braking moment data, calculate hydraulic braking moment, then send hydraulic braking moment to electronic stability control
System processed, makes electronic stabilizing control system control to be applied to the braking of brake fluid system according to hydraulic braking moment
Hydraulic braking force on liner.
It should be noted that and store to the electrokinetic cell phase the regenerating braking energy of electric automobile is converted into electric energy
Between, the starting state of the anti-lock brake system of electric automobile is detected, anti-locking braking once detected
When system has been turned on, need to stop the regenerating braking energy of electric automobile is converted to electric energy, i.e. stop regeneration system
Energy reclaims.
Further, regenerating braking energy can be controlled by the full-vehicle control unit of electric automobile to reclaim, the most just
It is to say, uses the accelerator pedal with stroke sensor and brake pedal, it is possible to allow full-vehicle control unit accurately feel
Know the deceleration intention of driver.Full-vehicle control unit Real-time Collection accelerator pedal, the coherent signal of brake pedal,
Motor speed, speed, power battery charged state (SOC) data, each automatically controlled list is gathered by CAN
Unit's malfunction, anti-lock brake system (ABS) starting state, electronic stabilizing control system (ESC) work
The signal such as state, hydraulic braking force.When driver's release the gas pedal, full-vehicle control unit detects driver
Deceleration intention, and detect that accelerator pedal is reduced to preset within accelerator pedal opening degree threshold value (such as 30%)
Time, full-vehicle control unit detects that electrokinetic cell SOC is less than presetting state of charge data without full-vehicle control fault
Threshold value (such as 95%, can demarcate), electrokinetic cell connects normal, and full-vehicle control unit obtains GES,
Table look-up according to GES and obtain regenerative braking torque (i.e. regenerative braking moment), and be sent to electric machine controller,
Starting regenerating braking energy to reclaim, braking moment is demarcated according to speed, and braking effect is equal to Same Efficieney
The engine brake force of size.Visible, accelerator pedal discharge during, from accelerator pedal also in a high position time
Begin to driving motor to apply Brake energy recovery moment, it is possible to substantially regulation speed reduction of speed trend, shortening is stopped
Car kilometer, improves driver comfort.When the complete release the accelerator pedal of driver, and during brake pedal, whole
Car control unit detects the stronger braking requirement of driver, tables look-up according to speed size and obtains regenerative braking torsion
Square, according to the stroke (the opening degree data that i.e. brake pedal is stepped on) that brake pedal is stepped on, tabling look-up obtains total braking torque,
Now, the brake force of vehicle is made up of two parts: a part of brake force comes from conventional hydraulic brakes, and one
Partial brake power carrys out the regenerative braking force that self-driven motor produces.Full-vehicle control unit can need to adjust according to vehicle
Joint braking force distribution, utilizes regenerating braking energy in braking procedure to greatest extent.Drive the system that motor produces
Energy is less than at electrokinetic cell SOC and presets state of charge data threshold (such as 95%, can demarcate), and
And battery, motor, Full Vehicle System all there is no fault in the case of can feed back to electrokinetic cell, to electrokinetic cell
Charging, carries out energy regenerating.In energy recovery process, for support vehicles safety, therefore, to assure that ABS does not has
Opening, once ABS works, and terminates Brake energy recovery at once.By driving the regenerative braking force of motor,
It is obtained in that more preferably driver comfort, increases electric automobile continual mileage, extend the brake lining life-span.
Further, it is also possible to arranging regenerative braking force on brake pedal and select switch, driver can basis
The driving habits of oneself and traveling road conditions regulate the strong and weak scope of required regenerative braking force, and regenerative braking force selects
Switch could be arranged to cut out (OFF), weak, medium, strong fourth gear.There is stroke due to brake pedal simultaneously pass
Sensor and switch position signal, full-vehicle control unit can the braking intention of more accurate perception driver, more
Control the size of regenerating braking energy accurately.
Reclaimed by braking energy of electric automobiles, appropriate design braking force distribution control strategy, make full use of the energy,
Electric motor car can be made to increase continual mileage to greatest extent.
Fig. 3 is the regenerative braking energy reclaiming system schematic diagram that the embodiment of the present invention provides, as it is shown on figure 3, make
With the brake pedal with stroke sensor, brake pedal is made the brake deceleration meaning of driver can accurately to be detected
Figure, and the major control input signal of accelerator pedal composition regenerating braking energy take-back strategy.This case have also been devised
Limit regenerative braking force scope regenerative braking force select switch, regenerative braking moment scope is divided into by force, in,
Weak third gear, can select to use or close regenerating braking energy according to the custom of driver and road conditions and reclaim merit
Can, improve drive safety, comfortableness.Under regenerating braking energy take-back model, full-vehicle control unit 1 energy
Enough collect from the hydraulic braking force signal of ESC8 and ABS4 whether actuating signal (i.e. opens by CAN
Dynamic signal), maximum allowable from cell operating status signal and the electrokinetic cell of battery management system (BMS) 3
Charging current signal, from the motor current torque signal etc. of electric machine controller 2.Medium power is travelled at vehicle
Battery connect normal and electrokinetic cell SOC less than 95%, accelerator pedal loosen drop to 30% within or step on system
Dynamic pedal, regenerative braking force selects switch not at OFF shelves, and driving switch is D shelves, Control Strategy for Regenerative Braking
Working, Control Strategy for Regenerative Braking is illustrated by Fig. 4.
Fig. 4 is that the regenerating braking energy that the embodiment of the present invention provides reclaims control flow chart, as shown in Figure 4, step
Suddenly include:
Step S401: input step.
Input the letter selecting the stroke sensor on the signal of switch, accelerator pedal to gather from regenerative braking force
Number, stroke sensor on brake pedal gather signal, the signal of switch sensor of brake pedal, hydraulic pressure
The hydraulic braking moment of brakes, gear PRND, complete vehicle fault state, electrokinetic cell SOC, electrokinetic cell
Maximum allowable charging current, ABS duty etc..
Step S402: judge whether electric automobile current state meets following condition: brake force selects switch not
For OFF, range state is D gear, and electrokinetic cell SOC is less than 95%, and ABS duty is not actuated.
When judging that electric automobile current state meets above-mentioned condition, perform step S403, otherwise exit braking energy
Reclaim control model.
Step S403: judge whether electric automobile current state meets following condition: accelerator pedal has the trend of unclamping
And less than 30%, and brake pedal switch is for closing.When the opening degree judging accelerator pedal is less than 30% and brake pedal
When being not acted upon, perform step S404, otherwise exit Brake energy recovery control model.
Step S404: obtain GES, tables look-up according to GES and obtains driving motor braking moment size,
I.e. regenerative braking torque.
Step S405: judge whether electric automobile current state meets following condition: accelerator pedal discharges completely,
Brake pedal switch opens (on), braking distance (i.e. the opening degree of brake pedal) more than 0.When electronic vapour
When car accelerator pedal discharges completely, brake pedal switch has been opened and braking distance is more than 0, perform step S407,
Otherwise perform step S406.
Step S406: judge whether driver maintains braking intention (i.e. deceleration intention), the most then perform step
Rapid S404, otherwise exits Brake energy recovery control model.
Step S407: table look-up according to the brake pedal degree of depth and obtain demand braking moment size (i.e. total braking force square).
Step S408: braking moment according to demand, calculates demand brake force.
Step S409: table look-up according to speed and obtain regenerative braking moment, and according to regenerative braking moment, calculate again
Raw brake force.
Step S410: drive motor that regenerative braking force is carried out energy regenerating.
Step S411: deduct regenerative braking force by demand brake force, obtain hydraulic braking force.
Step S412: hydraulic braking force is passed to brake fluid system, brake fluid system can also profit simultaneously
Gather hydraulic braking force signal with master cylinder pressure sensor and carry out information feedback to full-vehicle control unit.
Step S413: brake fluid system output hydraulic pressure brake force, utilizes frictional force to be braked.
In other words, in Fig. 4, signal input gives braking energy of electric automobiles and reclaims the bar that control model starts
Part, substantially listed with in Fig. 1 to Fig. 3 condition is identical, and when each condition meets, electric automobile is at full-vehicle control list
Brake energy recovery pattern is entered under the control of unit 1.Energy regenerating controls to be divided into two stages.
First stage, driver's pine accelerator pedal applies deceleration intention to vehicle, when accelerator pedal opening degree is less than
When 30% (brake pedal does not works), full-vehicle control unit stops output driving torque, to electric machine controller
Sending braking torque, drive motor to be converted to electromotor, at electrokinetic cell SOC, less than 95% and maximum charge is electric
Under stream permissive condition, full-vehicle control enters regenerating braking energy take-back model, and electrokinetic cell is carried out feedback energy
Charging, driver can experience braking effect this moment, and speed downward trend can be selected switch by regenerative braking force
Control.If now driver has the acceleration i.e. accelerator pedal aperture of intention to increase once again, then full-vehicle control exits again
Raw braking mode.
Second stage, accelerator pedal discharges completely, and full-vehicle control unit 1 detects brake pedal switch signal,
The total braking force that car load braking needs, then maximum limit is calculated according to collecting brake-pedal-travel sensor signal
The brake force size that the calculating of degree can be provided by motor this moment, motor produces braking torque, by total braking force
The brake force size that deducting motor can provide draws the hydraulic braking force of needs, draws traditional braking liner
Hydraulic pressure exports.Full-vehicle control unit 1 needs flexible allocation hydraulic braking force and regenerative braking according to car load
Power, utilizes regenerative braking force to carry out energy regenerating to greatest extent, electric machine controller 2 implements regenerative braking torque
Control, ESC8 control the hydraulic pressure size being applied in brake lining.Owing to braking procedure being applied with
Motor braking, the hydraulic pressure being applied in brake lining does not considerably less than have the vapour of motor regenerative braking capability
Car such that it is able to extend the service life of brake lining.
Fig. 5 gives under Brake energy recovery pattern, regenerative braking torque and brake force switch, accelerator pedal
Relation, show clearly that the control trend of the regenerative braking torque that Brake energy recovery applies in different phase.
In sum, the present invention has following technical effect that
1, the switching regulator pedal that current most of electric automobiles use is improved to have travel position biography concurrently by the present invention
The brake pedal of sensor, it is possible to the accurately deceleration intention of perception driver；
2, full-vehicle control unit has distribution hydraulic braking force and the function of regenerative braking force；
3, the present invention starts the strategy of energy regenerating when accelerator pedal release is to less than 30%, it is possible to suppress by
The hidden danger such as road speed goes up not down, reduction of speed is inconspicuous are produced in short-term in slow release the gas pedal.
Although above the present invention being described in detail, but the invention is not restricted to this, the art technology
Personnel can carry out various amendment according to the principle of the present invention.Therefore, all amendments made according to the principle of the invention,
All should be understood to fall into protection scope of the present invention.
Claims (11)
1. a regenerating braking energy recycling and control method, it is characterised in that including:
The gear signal of the electric automobile in acquisition traveling and accelerator pedal opening degree data；
Whether the gear signal acquired in judgement is forward signal；
When judging that described gear signal is forward signal, according to the acquired accelerator pedal folding number of degrees
According to, whether it is that deceleration intention judges to driver intention, including:
The opening degree data of the accelerator pedal collected are carried out with default accelerator pedal opening degree threshold value
Relatively；
When the opening degree data of the accelerator pedal collected are less than described default accelerator pedal opening degree threshold
During value, determine that driver intention is deceleration intention；
When determining that driver intention is deceleration intention, obtain the state of charge data of electric automobile power battery,
And according to acquired state of charge data, the regenerating braking energy of electric automobile is converted into electric energy, and stores
To electrokinetic cell.
Method the most according to claim 1, it is characterised in that described according to described state of charge number
According to, the regenerating braking energy of electric automobile is converted into electric energy, and the step stored to electrokinetic cell includes:
When described state of charge data are less than when presetting state of charge data threshold, obtain electric automobile current vehicle
Speed；
In default regenerative braking moment mapping table, search the regenerative braking moment number corresponding with described speed
According to, and the regenerative braking moment data found are sent to electric machine controller, for electric machine controller according to described
Regenerative braking moment data, are converted into electric energy by the regenerating braking energy that motor produces, store to electrokinetic cell.
3. a regenerating braking energy recycling and control method, it is characterised in that including:
The gear signal of the electric automobile in acquisition traveling and brake pedal opening degree data；
Whether the gear signal acquired in judgement is forward signal；
When judging that described gear signal is forward signal, according to the acquired brake pedal folding number of degrees
According to, whether it is that deceleration intention judges to driver intention, including: when opening of the brake pedal collected
When right data are more than zero, determine that driver intention is deceleration intention；
When determining that driver intention is deceleration intention, obtain the state of charge data of electric automobile power battery；
According to acquired state of charge data, the regenerating braking energy of electric automobile is converted into electric energy, and deposits
Store up to electrokinetic cell；
Wherein, when determining that driver intention is deceleration intention, always according to total braking force square and regenerative braking moment
Calculate hydraulic braking force, obtain the hydraulic braking force for brake lining.
Method the most according to claim 3, it is characterised in that described according to described state of charge number
According to, the regenerating braking energy of electric automobile is converted into electric energy, and the step stored to electrokinetic cell includes:
Described state of charge data are compared with default state of charge data threshold；
When described state of charge data are less than when presetting state of charge data threshold, obtain electric automobile current vehicle
Speed；
In default regenerative braking moment mapping table, search the regenerative braking moment number corresponding with described speed
According to, and the regenerative braking moment data found are sent to electric machine controller, for electric machine controller according to described
Regenerative braking moment data, are converted into electric energy by the regenerating braking energy that motor produces, store to electrokinetic cell.
Method the most according to claim 4, it is characterised in that described according to total braking force square and again
Raw braking moment calculates hydraulic braking force, and the step obtaining the hydraulic braking force for brake lining includes:
In default total braking force mapping table, search the total system corresponding with the opening degree data of described brake pedal
Kinetic moment；
Utilize described total braking force square and regenerative braking moment data, calculate hydraulic braking moment；
Hydraulic braking moment is sent to electronic stabilizing control system, for described electronic stabilizing control system according to
Described hydraulic braking moment controls the hydraulic braking force being applied in the brake lining of brake fluid system.
6. according to the method described in claim 1-5 any one, it is characterised in that also include:
Store to during electrokinetic cell, to electric automobile the regenerating braking energy of electric automobile being converted into electric energy
The starting state of anti-lock brake system detect；
When detecting that described anti-lock brake system has been turned on, stop the regenerative braking energy of conversion electric automobile
Amount.
7. a regenerating braking energy recovery control device, it is characterised in that including:
Data acquisition module, for obtaining gear signal and the accelerator pedal folding number of degrees of the electric automobile in traveling
According to；
First judge module, for judging whether acquired gear signal is forward signal；
Second judge module, is used for when described first judge module judges that gear signal is forward signal,
Whether the opening degree data according to described accelerator pedal, be that deceleration intention judges to driver intention, including:
The opening degree data of the accelerator pedal collected are carried out with default accelerator pedal opening degree threshold value
Relatively；
When the opening degree data of the accelerator pedal collected are less than described default accelerator pedal opening degree threshold
During value, determine that driver intention is deceleration intention；
Energy recovery module, for when determining that driver intention is deceleration intention, obtains electric powered motor electricity
The state of charge data in pond, and according to described state of charge data, the regenerating braking energy of electric automobile is changed
Become electric energy, and store to electrokinetic cell.
8. a regenerating braking energy recovery control device, it is characterised in that including:
Data acquisition module, for obtaining gear signal and the accelerator pedal folding number of degrees of the electric automobile in traveling
According to；
First judge module, for judging whether acquired gear signal is forward signal；
Second judge module, is used for when described first judge module judges that gear signal is forward signal,
Opening degree data according to brake pedal, judge the deceleration intention of driver, including: when being collected
Brake pedal opening degree data more than zero time, determine that driver intention is deceleration intention；
Energy recovery module, for when determining the deceleration intention of driver, obtains electric automobile power battery
State of charge data, and according to described state of charge data, the regenerating braking energy of electric automobile is converted into electricity
Can, and store to electrokinetic cell；And calculate hydraulic braking force according to total braking force square and regenerative braking moment,
Obtain the hydraulic braking force for brake lining.
Device the most according to claim 7, it is characterised in that described data acquisition module includes:
The first stroke sensor being arranged on accelerator pedal, is used for gathering the folding number of degrees of described accelerator pedal
According to.
Device the most according to claim 8, it is characterised in that described data acquisition module includes:
The second stroke sensor being arranged on brake pedal, is used for gathering the folding number of degrees of described brake pedal
According to.
11. according to the device described in claim 7 or 8, it is characterised in that described energy recovery module is by institute
State state of charge data to compare with default state of charge data threshold, when described state of charge data are less than pre-
If during state of charge data threshold, obtain electric automobile current vehicle speed, at default regenerative braking moment mapping table
In, search the regenerative braking moment data corresponding with described speed, and the regenerative braking moment data found are sent out
Deliver to electric machine controller, for electric machine controller according to described regenerative braking moment data, motor is produced again
Raw braking energy is converted into electric energy, stores to electrokinetic cell.
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