CN107199893A - Energy reclaiming method and device - Google Patents
Energy reclaiming method and device Download PDFInfo
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- CN107199893A CN107199893A CN201710392418.5A CN201710392418A CN107199893A CN 107199893 A CN107199893 A CN 107199893A CN 201710392418 A CN201710392418 A CN 201710392418A CN 107199893 A CN107199893 A CN 107199893A
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- 230000001133 acceleration Effects 0.000 claims abstract description 110
- 230000004087 circulation Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 238000011084 recovery Methods 0.000 abstract description 32
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000001172 regenerating effect Effects 0.000 description 6
- 125000004122 cyclic group Chemical group 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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Classifications
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention proposes a kind of energy reclaiming method and device, wherein, method includes：Detect the state of brake pedal and acceleration pedal；According to the state of brake pedal and the state of acceleration pedal, the target operating condition that vehicle is presently in is determined；Obtain the aimed acceleration corresponding with the travel speed that vehicle is current under target operating condition；According to target operating condition, travel speed and aimed acceleration, the target torque that vehicle is reclaimed required under target operating condition is obtained.With it, recovery braking energy can be maximized, the energy recovery rate of pure electric automobile is improved, and electric automobile continuation of the journey more mileage can be continued as using the energy reclaimed, the energy produced by braking is substantially make use of.
Description
Technical field
The present invention relates to Vehicle Engineering, more particularly to a kind of energy reclaiming method and device.
Background technology
Under the promotion of the various policies favourable of government and the trying to explore of each Automobile Enterprises, current electric automobile has been obtained
Extensive use.With the increase of customer group, the continual mileage problem of electric automobile is increasingly highlighted, but battery energy density is still
It is so the bottleneck of electric automobile, increases the energy storage of battery by increasing battery energy density, difficulty is larger.
In practical application, the braking energy of the nearly half produced by pure electric automobile is consumed.But with vehicle
Engineering is continued to develop, and the distinctive motor driving of pure electric automobile and generates electricity double mode, and electrokinetic cell energy storage device is system
The recovery of energy provides excellent condition.Therefore, the energy regenerating of pure electric automobile becomes the emphasis of enterprises pay attention, into
For enterprise's problem urgently to be resolved hurrily.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of energy reclaiming method, braking is reclaimed to realize to maximize
Energy, improve pure electric automobile energy recovery rate, it is existing in braking procedure for solving, produced by pure electric automobile general
The problem of braking energy of nearly half is consumed.
Second object of the present invention is to propose a kind of energy recycle device.
Third object of the present invention is to propose a kind of energy recycle device.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
The 5th purpose of the present invention is to propose a kind of computer program product.
For up to above-mentioned purpose, first aspect present invention embodiment proposes a kind of energy reclaiming method, including：Detection braking
The state of pedal and acceleration pedal；According to the state of the brake pedal and the state of the acceleration pedal, vehicle is determined
The target operating condition being presently in；Obtain the aimed acceleration corresponding with the travel speed that vehicle is current under the target operating condition；
According to the target operating condition, the travel speed and the aimed acceleration, the vehicle is obtained under the target operating condition
The target torque of required recovery.
The energy reclaiming method of the embodiment of the present invention, by the state according to brake pedal and the state of acceleration pedal,
Determine the target operating condition that vehicle is presently in；The target corresponding with the travel speed that vehicle is current under target operating condition is obtained to accelerate
Degree；According to target operating condition, travel speed and aimed acceleration, the target force that vehicle is reclaimed required under target operating condition is obtained
Square, can maximize recovery braking energy, improve the energy recovery rate of pure electric automobile, and can using the energy reclaimed after
Continue for electric automobile continuation of the journey more mileage, substantially make use of the energy produced by braking.
For up to above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of energy recycle device, including：State-detection
Module, the state for detecting brake pedal and acceleration pedal；Operating mode determining module, for the shape according to the brake pedal
The state of state and the acceleration pedal, determines the target operating condition that vehicle is presently in；First acquisition module, for obtaining in institute
State aimed acceleration corresponding with the travel speed that vehicle is current under target operating condition；Second acquisition module, for according to the mesh
Operating mode, the travel speed and the aimed acceleration are marked, the vehicle is obtained and is reclaimed required under the target operating condition
Target torque.
The energy recycle device of the embodiment of the present invention, by the state according to brake pedal and the state of acceleration pedal,
Determine the target operating condition that vehicle is presently in；The target corresponding with the travel speed that vehicle is current under target operating condition is obtained to accelerate
Degree；According to target operating condition, travel speed and aimed acceleration, the target force that vehicle is reclaimed required under target operating condition is obtained
Square, can maximize recovery braking energy, improve the energy recovery rate of pure electric automobile, and can using the energy reclaimed after
Continue for electric automobile continuation of the journey more mileage, substantially make use of the energy produced by braking.
For up to above-mentioned purpose, third aspect present invention embodiment proposes a kind of energy recycle device, including：Memory and
Processor, wherein, the processor run by reading the executable program code stored in the memory with it is described can
The corresponding program of configuration processor code, for performing the energy reclaiming method as described in first aspect embodiment.
The energy recycle device of the embodiment of the present invention, by the state according to brake pedal and the state of acceleration pedal,
Determine the target operating condition that vehicle is presently in；The target corresponding with the travel speed that vehicle is current under target operating condition is obtained to accelerate
Degree；According to target operating condition, travel speed and aimed acceleration, the target force that vehicle is reclaimed required under target operating condition is obtained
Square, can maximize recovery braking energy, improve the energy recovery rate of pure electric automobile, and can using the energy reclaimed after
Continue for electric automobile continuation of the journey more mileage, substantially make use of the energy produced by braking.
For up to above-mentioned purpose, fourth aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter, is stored thereon with computer program, is realized when computer program is executed by processor as described in first aspect embodiment
Energy reclaiming method.
The non-transitorycomputer readable storage medium of the embodiment of the present invention, passes through the state according to brake pedal and acceleration
The state of pedal is spent, the target operating condition that vehicle is presently in is determined；Obtain travel speed current with vehicle under target operating condition
Corresponding aimed acceleration；According to target operating condition, travel speed and aimed acceleration, vehicle is obtained needed under target operating condition
The target torque to be reclaimed, can maximize recovery braking energy, improve the energy recovery rate of pure electric automobile, and can profit
Electric automobile continuation of the journey more mileage is continued as with the energy of recovery, the energy produced by braking is substantially make use of.
For up to above-mentioned purpose, fifth aspect present invention embodiment proposes a kind of computer program product, calculated when described
Instruction in machine program product by computing device when, perform the energy reclaiming method as described in first aspect embodiment.
The computer program product of the embodiment of the present invention, passes through the state according to brake pedal and the shape of acceleration pedal
State, determines the target operating condition that vehicle is presently in；Obtain the target corresponding with the travel speed that vehicle is current under target operating condition
Acceleration；According to target operating condition, travel speed and aimed acceleration, the mesh that vehicle is reclaimed required under target operating condition is obtained
Torque is marked, recovery braking energy can be maximized, the energy recovery rate of pure electric automobile is improved, and the energy reclaimed can be utilized
Amount continues as electric automobile continuation of the journey more mileage, substantially make use of the energy produced by braking.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and be readily appreciated that, wherein：
Fig. 1 is a kind of schematic flow sheet of energy reclaiming method provided in an embodiment of the present invention；
Fig. 2 is the schematic flow sheet of another energy reclaiming method provided in an embodiment of the present invention；
Fig. 3 is NEDC state of cyclic operation schematic diagrames in the embodiment of the present invention；
Fig. 4 is basic urban district circulation schematic diagram in the embodiment of the present invention；
Fig. 5 is circulation schematic diagram in suburbs in the embodiment of the present invention；
The big logotype of torque that Fig. 6 is reclaimed for needed for vehicle under different operating modes in the embodiment of the present invention；
Fig. 7 is a kind of structural representation of energy recycle device provided in an embodiment of the present invention；
Fig. 8 is the structural representation of another energy recycle device provided in an embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings the energy reclaiming method and device of the embodiment of the present invention described.
Fig. 1 is a kind of schematic flow sheet of energy reclaiming method provided in an embodiment of the present invention.
As shown in figure 1, the energy reclaiming method includes：
The state of S101, detection brake pedal and acceleration pedal.
It should be noted that the energy reclaiming method improved in the present embodiment, is mainly used in reclaiming in vehicle braking procedure
The energy of generation reaches the purpose of vehicle deceleration, accordingly, it is capable to which the premise for measuring recovery, which is vehicle, is in the decelerating phase, in order to maximize
Braking energy is recycled, driver needs not carry out mechanical braking by trampling brake as far as possible.
It is alternatively possible to detect the state of brake pedal and acceleration pedal according to related sensor, braked by detecting
The state of pedal and acceleration pedal determines whether the state that vehicle is presently in is on-position or deceleration regime.Example
Such as, brake pedal state in which can be detected according to brake pedal position sensor, wherein, the state of brake pedal is divided into pine
Open state and step on state.Or, the state of acceleration pedal, acceleration can be detected according to acceleration pedal position sensor
The state of pedal is divided into releasing orientation and steps on state.
S102, according to the state of brake pedal and the state of acceleration pedal, determines the target operating condition that vehicle is presently in.
It is understood that the safety in order to ensure driving, generally brake pedal and acceleration pedal can not be equal
In stepping on state；Because the premise of energy regenerating is that vehicle is in the decelerating phase, add when brake pedal is in releasing orientation
Speed pedal is in when stepping on state, and vehicle is in boost phase, now, it is impossible to carry out energy regenerating.
When brake pedal is in state of stepping on and acceleration pedal is in releasing orientation, it may be determined that vehicle is presently in
Target operating condition be damped condition；When brake pedal and acceleration pedal are in releasing orientation, it may be determined that vehicle is current
Residing target operating condition is coasting mode.
S103, obtains the aimed acceleration corresponding with the travel speed that vehicle is current under target operating condition.
In the embodiment of the present invention, the travel speed of vehicle can be divided into multiple segments in advance, and determine each area
Between acceleration of the section under damped condition and coasting mode, then, can be by the acceleration and cunning under segment and damped condition
Acceleration under row operating mode is corresponded, the mapping relations formed between segment, operating mode and acceleration.It can such as draw
Into corresponding form.
Further, can be by the finger in above-mentioned mapping relations storage of cars after the above-mentioned mapping relations are got
Positioning under known target operating mode after the travel speed current with vehicle, can pass through plug-in to specified location in putting
Upper inquiry mapping relations, obtain the aimed acceleration corresponding with the travel speed that vehicle is current, Neng Gouyou under target operating condition
Effect saves the calculating time.
S104, according to target operating condition, travel speed and aimed acceleration, obtains vehicle and is returned required under target operating condition
The target torque of receipts.
In an embodiment of the present invention, road running resistance that can be according to vehicle under different travel speeds, is calculated
The target torque that vehicle is provided needed for motor under target operating condition.Specifically, can be according to target operating condition, travel speed and mesh
Acceleration is marked, default torque table is inquired about, wherein, default torque table is to be set in advance in the plug-in of vehicle, then,
The resultant couple produced by vehicle can be obtained from default torque table, then the target that vehicle is reclaimed required under target operating condition
Torque can be calculated according to resultant couple and road running resistance and obtained.
The energy reclaiming method of the present embodiment, by the state according to brake pedal and the state of acceleration pedal, it is determined that
The target operating condition that vehicle is presently in；Obtain the aimed acceleration corresponding with the travel speed that vehicle is current under target operating condition；
According to target operating condition, travel speed and aimed acceleration, the target torque that vehicle is reclaimed required under target operating condition is obtained,
Recovery braking energy can be maximized, the energy recovery rate of pure electric automobile is improved, and can continue using the energy reclaimed
For electric automobile continuation of the journey more mileage, the energy produced by braking substantially make use of.
For an embodiment in clear explanation, and further improve the energy recovery rate of pure electric automobile and utilize recovery
Energy continues as electric automobile continuation of the journey more mileage, present embodiments provides another energy reclaiming method, and Fig. 2 is the present invention
The schematic flow sheet for another energy reclaiming method that embodiment is provided.
Referring to Fig. 2, the energy reclaiming method comprises the following steps：
S201, according to the presently used gear signal of vehicle, judges whether vehicle is currently in normally travel state, if
It is to perform S202, otherwise, performs S214.
It should be noted that the premise of energy regenerating, which is vehicle, is in deceleration or on-position, profit is reclaimed in order to maximize
With braking energy, driver needs not reach deceleration demand by trampling brake progress mechanical braking as far as possible.
, it is necessary to according to the presently used gear signal of vehicle, judge that vehicle is currently before braking energy is recycled
It is no to be in normally travel state, when vehicle is currently at normally travel state, the energy regenerating strategy of motor could be triggered.
Specifically, driver operation gearshift, by shelves from current gear change to target gear when, target gear can lead to
Cross bus and send a hard signal to the entire car controller of vehicle, and then can learn target gear according to the hard signal,
It may thereby determine that whether vehicle is currently in normally travel state.For example, when hard signal indicates that gear is D grades or B
During shelves, show that vehicle is currently at normally travel state, at this point it is possible to triggering following step；When gear is in D grades or B grades
When, determine that vehicle is currently at normally travel state, and when hard signal indicates that gear is in P grades, show that vehicle is current
In parked state, it is determined that vehicle is currently at improper transport condition, at this point it is possible to terminate handling process.
S202, brake pedal state in which is detected by first sensor, detects that acceleration is stepped on by second sensor
Plate state in which.
Alternatively, it is that brake pedal sets first sensor, the first sensor of setting can detect brake pedal in real time
State, and then can be to be gathered on first sensor data, the data can be brake pedal aperture, the system can be passed through
The aperture of dynamic pedal determines brake pedal state in which.Wherein, the state of brake pedal is divided into releasing orientation and steps on state.
For example, when the aperture of brake pedal is zero, in releasing orientation, when the aperture non-zero of brake pedal, in stepping on state.
Further, it is that acceleration transducer sets second sensor, the second sensor of setting can be detected in real time to be added
The state of speed pedal, so can be to be gathered in second sensor data, the data can be acceleration pedal aperture, can
Acceleration pedal state in which is determined with the aperture by the acceleration pedal.The state of acceleration pedal is divided into releasing orientation
With step on state.For example, when the aperture of acceleration pedal is zero, in releasing orientation, when the aperture non-zero of acceleration pedal
When, in stepping on state.
It is understood that when acceleration pedal is in releasing orientation, acceleration pedal aperture is zero.
S203, judges whether accelerator pedal is in releasing orientation, if so, performing S204, otherwise, performs S214.
Alternatively, when accelerator pedal is in and steps on state, target operating condition is neither damped condition, nor sliding work
Condition, at this point it is possible to terminate handling process；, can be with triggering following step when accelerator pedal is in releasing orientation.
S204, judges that brake pedal, whether in state is stepped on, if so, performing S205, otherwise, performs S206.
S205, it is damped condition to determine target operating condition.
Alternatively, brake pedal be in step on state and accelerator pedal be in releasing orientation when, determine that target operating condition is
Damped condition.
S206, it is coasting mode to determine target operating condition.
Alternatively, when brake pedal and acceleration pedal are in releasing orientation, it is coasting mode to determine target operating condition.
S207, counts the deceleration of vehicle in basic urban district circulation and suburbs circulation.
As a kind of example, referring to Fig. 3, Fig. 3 is NEDC state of cyclic operation schematic diagrames in the embodiment of the present invention, wherein, NEDC
(New European Driving Cycle, new European car operating condition) state of cyclic operation deceleration relative constancy, and NEDC follows
Ring operating mode is made up of four urban district circulations and a suburbs cyclic program.1st period (0~800s) was circulated for urban district；When the 2nd
Between section (800~1200s be suburbs circulation)；3rd period (200~400s) was circulated for basic urban district.
Referring to Fig. 4 and Fig. 5, Fig. 4 is basic urban district circulation schematic diagram in the embodiment of the present invention, and Fig. 5 is the embodiment of the present invention
Schematic diagram is circulated in middle suburbs, and the deceleration of calculating vehicle in being circulated with suburbs can be circulated from basic urban district, basic city is obtained
As shown in table 1, the deceleration of suburbs circulation is as shown in table 2 for the deceleration of area's circulation.
Table 1
| Operating mode sequence number | Mode of operation | Acceleration m/s2 | Speed km/h |
| 4 | Slow down | -0.83 | 15~0 |
| 9 | Slow down | -0.81 | 32~0 |
| 15 | Slow down | -0.52 | 50~35 |
| 17 | Slow down | -0.97 | 35~0 |
Table 2
| Operating mode sequence number | Mode of operation | Acceleration m/s2 | Speed km/h |
| 7 | Slow down | -0.69 | 70~50 |
| 15 | Slow down | -0.69 | 120~80 |
| 16 | Slow down | -1.04 | 80~50 |
| 17 | Slow down | -1.39 | 50~0 |
S208, multiple segments are divided into according to deceleration by travel speed.
Understood for example, with reference to Tables 1 and 2, travel speed can be divided into 4 segments, be respectively：0~35km/h,
35~50km/h, 50~80km/h, 80~120km/h, in order to count the acceleration of each segment.
S209, it is determined that acceleration of each segment under damped condition and under coasting mode.
In the deceleration regime of whole NEDC state of cyclic operations, vehicle is stablized relatively in the acceleration of each braking section, base
Originally deceleration demand can be expressed with two different acceleration, meanwhile, in order to ensure under different operating modes, vehicle is occurred without
Excessive deceleration, in identical segment, can finally be determined the acceleration under damped condition and is slided work with the small acceleration of value
Acceleration under condition, as shown in table 3.
Table 3
S210, obtains the aimed acceleration corresponding with the travel speed that vehicle is current under target operating condition.
Accelerate it is alternatively possible to obtain the target corresponding with the travel speed that vehicle is current under target operating condition according to table 3
Degree.
For example, current travel speed be 75km/h, target operating condition is damped condition, as shown in Table 3 aimed acceleration for-
1.04m/s2。
In another example, current driving speed be 45km/h, target operating condition is coasting mode, as shown in Table 3 aimed acceleration for-
0.52m/s2。
S211, according to target operating condition, travel speed and aimed acceleration, inquires about default torque table, therefrom obtains car
Resultant couple produced by.
In an embodiment of the present invention, default torque table is to be set in advance in the plug-in of vehicle.
Alternatively, default torque table is set in advance in the plug-in of vehicle, is calculating vehicle in target operating condition
During the target torque reclaimed required for lower, directly according to target operating condition, travel speed and aimed acceleration, vehicle is therefrom obtained
Produced resultant couple, can effectively shorten the calculating time.
S212, road running resistance is determined according to travel speed.
It is understood that vehicle is in the process of moving, road running resistance and travel speed are directly proportional, can be according to row
Sail speed and determine road running resistance, according to resultant couple and road running resistance, to calculate vehicle required under target operating condition
The target torque of recovery.
S213, according to resultant couple and road running resistance, calculates target torque.
It is understood that target torque=resultant couple+road running resistance * drag effects point to rotating shaft vertical range.
It is used as a kind of example, referring to Fig. 6, the torque that Fig. 6 is reclaimed for needed for vehicle under different operating modes in the embodiment of the present invention
Big logotype, for example, when speed of operation is 5km/h, because speed is too low, vehicle institute under damped condition and coasting mode
The torque size that need to be reclaimed is 0Nm.
S214, terminates.
The energy reclaiming method of the present embodiment, is believed by the deceleration for counting vehicle in basic urban district circulation and suburbs circulation
Breath, multiple segments are divided into according to deceleration by travel speed, it is determined that each segment is under damped condition and slides work
Acceleration under condition, can effectively save the follow-up calculating time.By being accelerated according to target operating condition, travel speed and target
Degree, inquires about default torque table, therefrom obtains the resultant couple produced by vehicle, road running resistance is determined according to travel speed,
According to resultant couple and road running resistance, target torque is calculated, recovery braking energy can be maximized, pure electric automobile is improved
Energy recovery rate, and electric automobile continuation of the journey more mileage can be continued as using the energy reclaimed, substantially it make use of
The energy produced by braking.
Fig. 7 is a kind of structural representation of energy recycle device provided in an embodiment of the present invention.The energy recycle device 700
Can being implemented in combination with by software, hardware or both.
As shown in fig. 7, the energy recycle device 700 includes：State detection module 701, operating mode determining module 702, first
Acquisition module 703, and the second acquisition module 704.Wherein,
State detection module 701, the state for detecting brake pedal and acceleration pedal.
Operating mode determining module 702, for the state according to the brake pedal and the state of the acceleration pedal, it is determined that
The target operating condition that vehicle is presently in.
First acquisition module 703, for obtaining the mesh corresponding with the travel speed that vehicle is current under the target operating condition
Mark acceleration.
Second acquisition module 704, for according to the target operating condition, the travel speed and the aimed acceleration,
Obtain the vehicle required target torque reclaimed under the target operating condition.
Further, in a kind of possible implementation of the embodiment of the present invention, on the basis of Fig. 8, referring to Fig. 8,
The energy recycle device 700 is still further comprised：
State determining module 705, for according to the presently used gear signal of the vehicle, determining that vehicle is currently at
Normally travel state.
Acquisition module 706 is counted, the deceleration for counting vehicle described in basic urban district circulation and suburbs circulation, root
Travel speed is divided into multiple segments according to the deceleration, it is determined that each segment is under the damped condition and described
Acceleration under coasting mode.
Alternatively, state detection module 701, specifically for detecting the shape residing for the brake pedal by first sensor
State, and the acceleration pedal state in which is detected by second sensor.
Alternatively, operating mode determining module 702, specifically for stepping on state and the acceleration is stepped on when the brake pedal is in
When plate is in releasing orientation, it is determined that the target operating condition is damped condition；Or, when the brake pedal and the acceleration
When pedal is in releasing orientation, it is determined that the target operating condition is coasting mode.
Alternatively, the second acquisition module 704, specifically for according to the target operating condition, the travel speed and described
Aimed acceleration, inquires about default torque table, therefrom obtains the resultant couple produced by vehicle, is determined according to the travel speed
Road running resistance, according to the resultant couple and the road running resistance, calculates the target torque.
It should be noted that explanation of the earlier figures 1- Fig. 6 embodiments to energy reclaiming method embodiment is also applied for
The energy recycle device 700 of the embodiment, here is omitted.
The energy recycle device of the present embodiment, by the state according to brake pedal and the state of acceleration pedal, it is determined that
The target operating condition that vehicle is presently in；Obtain the aimed acceleration corresponding with the travel speed that vehicle is current under target operating condition；
According to target operating condition, travel speed and aimed acceleration, the target torque that vehicle is reclaimed required under target operating condition is obtained,
Recovery braking energy can be maximized, the energy recovery rate of pure electric automobile is improved, and can continue using the energy reclaimed
For electric automobile continuation of the journey more mileage, the energy produced by braking substantially make use of.
In order to realize above-described embodiment, the present invention also proposes a kind of energy recycle device, including：Memory and processor,
Wherein, the processor is run and the executable program by reading the executable program code stored in the memory
The corresponding program of code, for performing energy reclaiming method as in the foregoing embodiment.
The energy recycle device of the present embodiment, by the state according to brake pedal and the state of acceleration pedal, it is determined that
The target operating condition that vehicle is presently in；Obtain the aimed acceleration corresponding with the travel speed that vehicle is current under target operating condition；
According to target operating condition, travel speed and aimed acceleration, the target torque that vehicle is reclaimed required under target operating condition is obtained,
Recovery braking energy can be maximized, the energy recovery rate of pure electric automobile is improved, and can continue using the energy reclaimed
For electric automobile continuation of the journey more mileage, the energy produced by braking substantially make use of.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposited thereon
Computer program is contained, energy regenerating as in the foregoing embodiment can be realized when the computer program is executed by processor
Method.
The non-transitorycomputer readable storage medium of the present embodiment, is stepped on by the state and acceleration according to brake pedal
The state of plate, determines the target operating condition that vehicle is presently in；Obtain corresponding with the travel speed that vehicle is current under target operating condition
Aimed acceleration；According to target operating condition, travel speed and aimed acceleration, obtain vehicle and returned required under target operating condition
The target torque of receipts, can maximize recovery braking energy, improve the energy recovery rate of pure electric automobile, and can utilize back
The energy of receipts continues as electric automobile continuation of the journey more mileage, substantially make use of the energy produced by braking.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, when in computer program product
Instruction by computing device when, perform energy reclaiming method as in the foregoing embodiment.
The computer program product of the present embodiment, by the state according to brake pedal and the state of acceleration pedal, really
Determine the target operating condition that vehicle is presently in；The target corresponding with the travel speed that vehicle is current under target operating condition is obtained to accelerate
Degree；According to target operating condition, travel speed and aimed acceleration, the target force that vehicle is reclaimed required under target operating condition is obtained
Square, can maximize recovery braking energy, improve the energy recovery rate of pure electric automobile, and can using the energy reclaimed after
Continue for electric automobile continuation of the journey more mileage, substantially make use of the energy produced by braking.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include
Module, fragment or the portion of the code of one or more executable instructions for the step of realizing custom logic function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list for the executable instruction for realizing logic function, it may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress for combining these instruction execution systems, device or equipment and using
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wirings
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, can even is that can be in the paper of printing described program thereon or other are suitable for computer-readable medium
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.Such as, if realized with hardware with another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized：With the logic gates for realizing logic function to data-signal from
Scattered logic circuit, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can be compiled
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
Rapid to can be by program to instruct the hardware of correlation to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is realized using in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although having been shown and retouching above
Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (15)
1. a kind of energy reclaiming method, it is characterised in that including：
Detect the state of brake pedal and acceleration pedal；
According to the state of the brake pedal and the state of the acceleration pedal, the target operating condition that vehicle is presently in is determined；
Obtain the aimed acceleration corresponding with the travel speed that vehicle is current under the target operating condition；
According to the target operating condition, the travel speed and the aimed acceleration, the vehicle is obtained in the target work
The target torque reclaimed required under condition.
2. energy reclaiming method according to claim 1, it is characterised in that the detection brake pedal and acceleration pedal
State before, including：
According to the presently used gear signal of the vehicle, determine that vehicle is currently at normally travel state.
3. energy reclaiming method according to claim 2, it is characterised in that the detection brake pedal and acceleration pedal
State, including：
The brake pedal state in which is detected by first sensor；
The acceleration pedal state in which is detected by second sensor.
4. energy reclaiming method according to claim 3, it is characterised in that the state according to the brake pedal and
The state of the acceleration pedal, determines the target operating condition that vehicle is presently in, including：
If the brake pedal be in step on state and the accelerator pedal be in releasing orientation, it is determined that the target operating condition
For damped condition；
If the brake pedal and the acceleration pedal are in releasing orientation, it is determined that the target operating condition is to slide work
Condition.
5. the energy reclaiming method according to claim any one of 1-4, it is characterised in that described according to the target work
Condition, the travel speed and the aimed acceleration, obtain the mesh that the vehicle is reclaimed required under the target operating condition
Torque is marked, including：
According to the target operating condition, the travel speed and the aimed acceleration, default torque table is inquired about, is therefrom obtained
Resultant couple produced by vehicle；
Road running resistance is determined according to the travel speed；
According to the resultant couple and the road running resistance, the target torque is calculated.
6. energy reclaiming method according to claim 4, it is characterised in that also include：
Count the deceleration of vehicle described in basic urban district circulation and suburbs circulation；
Travel speed is divided into by multiple segments according to the deceleration；
It is determined that acceleration of each segment under the damped condition and under the coasting mode.
7. a kind of energy recycle device, it is characterised in that including：
State detection module, the state for detecting brake pedal and acceleration pedal；
Operating mode determining module, for the state according to the brake pedal and the state of the acceleration pedal, determines that vehicle is worked as
Preceding residing target operating condition；
First acquisition module, accelerates for obtaining the target corresponding with the travel speed that vehicle is current under the target operating condition
Degree；
Second acquisition module, for according to the target operating condition, the travel speed and the aimed acceleration, obtaining described
The target torque that vehicle is reclaimed required under the target operating condition.
8. energy recycle device according to claim 7, it is characterised in that also include：
State determining module, for according to the presently used gear signal of the vehicle, determining that vehicle is currently at normal row
Sail state.
9. energy recycle device according to claim 8, it is characterised in that the state detection module, specifically for logical
Cross first sensor and detect the brake pedal state in which, and the acceleration pedal institute is detected by second sensor
The state at place.
10. energy recycle device according to claim 9, it is characterised in that the operating mode determining module, specifically for working as
The brake pedal be in step on state and the accelerator pedal be in releasing orientation when, it is determined that the target operating condition for braking
Operating mode；Or, when the brake pedal and the acceleration pedal are in releasing orientation, it is determined that the target operating condition is
Coasting mode.
11. the energy recycle device according to claim any one of 7-10, it is characterised in that second acquisition module,
Specifically for according to the target operating condition, the travel speed and the aimed acceleration, inquiring about default torque table, therefrom
The resultant couple produced by vehicle is obtained, road running resistance is determined according to the travel speed, according to the resultant couple and described
Road running resistance, calculates the target torque.
12. energy recycle device according to claim 10, it is characterised in that also include：
Acquisition module is counted, the deceleration for counting vehicle described in basic urban district circulation and suburbs circulation, according to described
Travel speed is divided into multiple segments by deceleration, it is determined that each segment slides work under the damped condition with described
Acceleration under condition.
13. a kind of energy recycle device, it is characterised in that including memory and processor, wherein, the processor is by reading
The executable program code stored in the memory runs program corresponding with the executable program code, for holding
Energy reclaiming method of the row as any one of claim 1-6.
14. a kind of computer program product, when the instruction in the computer program product is by computing device, is performed as weighed
Profit requires the energy reclaiming method any one of 1-6.
15. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the calculating
The energy reclaiming method as any one of claim 1-6 is realized when machine program is executed by processor.
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| CN201710392418.5A CN107199893B (en) | 2017-05-27 | 2017-05-27 | Energy reclaiming method and device |
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| CN201710392418.5A CN107199893B (en) | 2017-05-27 | 2017-05-27 | Energy reclaiming method and device |
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| CN108422896A (en) * | 2018-02-01 | 2018-08-21 | 阿尔特汽车技术股份有限公司 | A kind of electric vehicle deceleration increasing boat control system and method based under specific operation |
| CN110341668A (en) * | 2018-04-08 | 2019-10-18 | 上海汽车集团股份有限公司 | A kind of braking force distribution method, apparatus and entire car controller |
| CN111361547A (en) * | 2020-03-23 | 2020-07-03 | 江铃汽车股份有限公司 | Energy recovery control method for pure electric rear wheel drive automobile |
| CN111619359A (en) * | 2019-02-28 | 2020-09-04 | 北京新能源汽车股份有限公司 | Control method for recovering vehicle braking energy, vehicle control unit and vehicle |
| WO2021000853A1 (en) * | 2019-07-01 | 2021-01-07 | 长城汽车股份有限公司 | Braking control method and system and vehicle |
| WO2021077885A1 (en) * | 2019-10-25 | 2021-04-29 | 长城汽车股份有限公司 | Energy recovery control method and device for vehicle |
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| CN113459828A (en) * | 2021-07-09 | 2021-10-01 | 广东高标电子科技有限公司 | Power-assisted vehicle energy recovery method and device, electronic equipment and storage medium |
| CN113641176A (en) * | 2021-08-31 | 2021-11-12 | 广州小鹏自动驾驶科技有限公司 | Brake processing method, device and system for remote driving |
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| CN113335288A (en) * | 2021-08-06 | 2021-09-03 | 达芬骑动力科技(北京)有限公司 | Vehicle power recovery method and system and vehicle |
| CN113641176A (en) * | 2021-08-31 | 2021-11-12 | 广州小鹏自动驾驶科技有限公司 | Brake processing method, device and system for remote driving |
| CN113895239A (en) * | 2021-09-22 | 2022-01-07 | 三一汽车制造有限公司 | Electric working machine and energy recovery method and device thereof |
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