CN111143940B - Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium - Google Patents
Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium Download PDFInfo
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- CN111143940B CN111143940B CN201911318598.8A CN201911318598A CN111143940B CN 111143940 B CN111143940 B CN 111143940B CN 201911318598 A CN201911318598 A CN 201911318598A CN 111143940 B CN111143940 B CN 111143940B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application provides a triggering method, a triggering device, electronic equipment and a storage medium for vehicle sliding energy recovery, wherein the method comprises the following steps: when the vehicle is detected to enter a sliding state, determining the sliding speed of the vehicle at the current moment; acquiring the sliding speed of the vehicle at the historical moment; determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and a sliding speed prediction model; determining the demanded braking torque of the wheel rim based on the sliding speed at the current moment and the sliding speed at the moment to be estimated; determining a motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque; and sending the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy. Therefore, the energy recovery device can properly conduct the sliding energy recovery, the driving feeling is not influenced by the overlarge sliding energy recovery, and the low energy recovery efficiency caused by the overlarge sliding energy recovery is avoided.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a triggering method and apparatus for recovering energy during vehicle sliding, an electronic device, and a storage medium.
Background
The hybrid electric vehicle is the main development flow of the current new energy vehicle, the sliding energy recovery function is a necessary function of the hybrid electric vehicle, and the sliding energy is recovered into the energy storage unit through the motor during the running of the vehicle to provide power for the subsequent power demand. Current intelligent drive vehicle braking and coasting energy recovery strategies are generally controlled based on the driver's intent, and when a red light or other urban road conditions are encountered, the driver fully releases the accelerator pedal to keep the vehicle coasting. The generator is driven to generate electricity by utilizing the sliding inertia of the whole vehicle, so that the sliding energy is recovered and stored in the power battery for driving the vehicle, or the whole vehicle is powered by a composite power supply or a super capacitor for the next starting of the whole vehicle.
In the prior art, some schemes calculate a minimum vehicle speed value for recovering braking and sliding energy at a distance by detecting the distance value between the vehicle and a front vehicle, and when the real-time vehicle speed is greater than the minimum vehicle speed value for recovering braking and sliding energy, the braking and sliding energy is recovered until the vehicle speed of the vehicle is less than the minimum vehicle speed value for recovering braking and sliding energy of the vehicle. These schemes do not specifically analyze the method of calculation of the braking torque.
Still other schemes obtain an initial recovery torque and a target recovery torque at a current vehicle speed by acquiring a running parameter and a gradient signal of the current vehicle; the target recovery torque is sent to the motor to trigger the motor to perform energy recovery. These schemes only consider the effect of grade on braking torque, and do not consider the effect of real-time acceleration on braking torque.
Disclosure of Invention
The application aims to solve the technical problem that the design consideration of the current vehicle sliding energy recovery method and device is not comprehensive enough to ensure that the sliding energy cannot be effectively recovered.
In order to solve the above technical problems, a first aspect of the embodiments of the present application discloses a triggering method for vehicle sliding energy recovery, including:
when the vehicle is detected to enter a sliding state, determining the sliding speed of the vehicle at the current moment;
acquiring the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and a sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
determining the demanded braking torque of the wheel rim based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
determining a motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque;
and sending the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy.
Further, determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model comprises:
determining preset parameters of a sliding speed prediction model according to the current moment, the sliding speed at the current moment, the historical moment and the sliding speed at the historical moment;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
Further, determining the demanded wheel braking torque based on the current taxi speed and the taxi speed to be estimated, includes:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
the demanded wheel braking torque is determined based on the current moment of coasting acceleration and the current moment of coasting speed.
Further, the vehicle attribute information includes a vehicle mass, vehicle driveline speed ratio information, and motor efficiency.
A second aspect of the embodiment of the present application discloses a triggering device for vehicle coasting energy recovery, which is characterized in that the device includes:
the determining module is used for determining the sliding speed of the vehicle at the current moment when the vehicle is detected to enter the sliding state;
the acquisition module is used for acquiring the sliding speed of the vehicle at the historical moment;
the determining module is used for determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
the determining module is used for determining the wheel-side required braking torque based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
the determining module is used for determining the motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque;
and the triggering module is used for sending the braking torque required by the motor end to the motor and triggering the motor to recover the sliding energy.
Further, the determining module is specifically configured to:
determining preset parameters of a sliding speed prediction model according to the current moment, the sliding speed at the current moment, the historical moment and the sliding speed at the historical moment;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
Further, the determining module is specifically configured to:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
the demanded wheel braking torque is determined based on the current moment of coasting acceleration and the current moment of coasting speed.
Further, the vehicle attribute information includes a vehicle mass, vehicle driveline speed ratio information, and motor efficiency.
In a third aspect of the embodiment of the present application, an electronic device is disclosed, where the electronic device includes a processor and a memory, where the memory stores at least one instruction, at least one section of program, a code set, or an instruction set, and the at least one instruction, the at least one section of program, the code set, or the instruction set is loaded and executed by the processor to implement a triggering method for vehicle coasting energy recovery.
In a fourth aspect, embodiments of the present application disclose a computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, at least one program, code set, or instruction set being loaded and executed by a processor to implement a triggering method for vehicle coasting energy recovery.
By adopting the technical scheme, the application has the following beneficial effects:
according to the triggering method for vehicle sliding energy recovery, which is provided by the embodiment of the application, the sliding speed and the sliding acceleration at the moment to be estimated can be determined according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model, so that the motor end required braking torque updated in real time can be obtained, and the motor end required braking torque can be sent to the motor in real time. Because the motor end demand braking torque that should send is real-time, trigger motor coast energy recuperation also is real-time, so, can the appropriate amount carry out the energy recuperation that coasts, neither can not influence the driving impression because the energy recuperation that coasts is too big, also can not lead to the energy recuperation inefficiency because the energy recuperation that coasts is too little.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a triggering method for vehicle coasting energy recovery according to an embodiment of the present application;
FIG. 2 is a detailed flow chart of a triggering method for vehicle coasting energy recovery according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a vehicle coasting energy recovery triggering device according to an embodiment of the present application;
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the application. In the description of the embodiments of the present application, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may include one or more of the feature, either explicitly or implicitly. Moreover, the terms "first," "second," and the like, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In the following, a specific embodiment of a triggering method for vehicle coasting energy recovery according to the present application is described, and fig. 1 is a schematic flow chart of a triggering method for vehicle coasting energy recovery according to an embodiment of the present application, and the present specification provides method operation steps as an example or a flowchart, but may include more or fewer operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 1, the method may include:
s101, when the fact that the vehicle enters a sliding state is detected, determining the sliding speed of the vehicle at the current moment; the method for detecting whether the vehicle enters the sliding state may be to determine whether the accelerator pedal and the brake pedal are not depressed, and if so, determine that the vehicle enters the sliding state.
S102, acquiring the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
in the embodiment of the application, the historical moment of acquiring the sliding speed of the historical moment is also positioned at a certain moment of the sliding state of the vehicle. For example, the vehicle is between the point 14 and the point 55 minutes and 15 is in a normal running state, and the time from the point 15 to the point 15 when the vehicle stops sliding (for example, 15 to zero 20 seconds) is the time period of the vehicle in the sliding state, that is, the point 15 is the point when the vehicle enters the sliding state, and then the history time must be between the point 15 and the point 15 to zero 20 seconds.
S103, determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and a sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
the sliding speed at the current moment can be defined as y (t), the sliding speed at the previous sampling moment y (t-k) and the vehicle speed at the previous second sampling moment y (t-2*k), wherein k is a sampling step length, and can be defined as values of 1s,0.1s,0.01s.0.001s.0.002s and the like, and the specific sampling step length can be set according to different conditions of a processor and the like.
We can use the sliding speed prediction model as an exponential function-based prediction model, i.e. y=ae bx Wherein y is the sliding speed at the moment to be estimated; x is time; a, b is a preset parameter of the model; e is natural logarithm;
taking logarithms from two sides by using a least square method to obtain lny = lna +bx;
defining the sliding speed of the next sampling moment of the moment to be estimated as y (t+k)
The sliding speed y (t+k) at the moment to be estimated is calculated in real time based on a Matlab function, the mode is input into an array Vel of the current moment and the preface speed, wherein vel= [ y (t-k) and y (t) ], and the model is output into a predicted speed y (t+k); determining preset parameters a and b of a sliding speed prediction model according to a current time t, a sliding speed y (t) at the current time, a historical time t-k and a sliding speed y (t-k) at the historical time; and determining the sliding speed y (t+k) at the moment to be estimated according to the moment to be estimated t+k and the sliding speed prediction model for determining the preset parameters.
Continuing to illustrate step S103 based on the time example in step S102, assuming that the sampling duration between the current time and the historical time is k to be 1 second, setting the current time to be 15 o 'clock zero 3 seconds, then the historical time may be 15 o' clock zero 2 seconds, the time to be estimated may be 15 o 'clock zero 4 seconds, assuming that the acquired sliding speed of 15 o' clock zero 2 seconds at the historical time is the first speed V1, the acquired speed of 15 o 'clock zero 3 seconds at the current time is the third speed V2, the speed of 15 o' clock zero 4 seconds at the time to be estimated is V3, and determining the sliding speed V4 at the time to be estimated according to the first speed V1, the second speed V2 and the sliding speed prediction model.
An optional implementation way of determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model is as follows:
determining preset parameters a and b of a sliding speed prediction model according to a sliding speed V1 of 15 points and 2 seconds at the current moment and a sliding speed V2 of 3 seconds at 15 points at the current moment; and then determining the sliding speed V3 at the moment to be estimated according to the 15 th-point zero 4 second at the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
S104, determining the demanded braking torque of the wheel according to the sliding speed at the current moment and the sliding speed at the moment to be estimated, wherein the specific implementation mode is as follows:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated; assuming that the sliding acceleration at the current time is a (t), a (t) = (V3-V2)/1, that is, the difference between the sliding speed at the time to be estimated and the sliding speed at the current time is divided by the sampling period.
And then determining the demanded braking torque of the wheel according to the sliding acceleration at the current moment and the sliding speed at the current moment. The specific implementation mode for determining the demanded braking torque of the wheel according to the sliding acceleration at the current moment and the sliding speed at the current moment is as follows:
firstly, building a longitudinal dynamics model of the whole vehicle as follows:
wherein T (T) is the torque required by the wheel side of the hybrid electric vehicle at the moment T, and the unit is N.m; delta is a conversion coefficient of the rotating mass; m is the equipment mass of the hybrid electric vehicle, and the unit is kg; a (t) is the sliding acceleration at the current moment, and the unit is m/s 2 ；C d The wind resistance coefficient of the hybrid electric vehicle; a is windward area, and the unit is m 2 The method comprises the steps of carrying out a first treatment on the surface of the ρ is the air density in kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the v (t) is the current moment of the coasting speed, and the unit is m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the g is gravity acceleration, and the unit is m/s 2 The method comprises the steps of carrying out a first treatment on the surface of the θ is the gradient angle; μ is the rolling resistance coefficient; r is the radius of the wheel, in m.
The demanded braking torque T (T) of the wheel is determined from the model.
S105, determining a motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque; in one embodiment, the vehicle attribute information may include vehicle mass, vehicle driveline speed ratio information, and motor efficiency.
And S106, transmitting the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy.
The following describes a specific embodiment of a triggering method for vehicle sliding energy recovery according to the present application, and fig. 2 is a detailed flowchart of a triggering method for vehicle sliding energy recovery according to an embodiment of the present application, including:
s201: when the vehicle is detected to enter a sliding state, determining the sliding speed of the vehicle at the current moment, wherein the historical moment is the moment of the vehicle in the sliding state;
s202: acquiring the sliding speed of the vehicle at the historical moment; the historical time is the time when the vehicle is in a coasting state;
s203: determining preset parameters of a sliding speed prediction model according to the current moment, the sliding speed at the current moment, the historical moment and the sliding speed at the historical moment;
s204: and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
S205: determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
s206: the demanded wheel braking torque is determined based on the current moment of coasting acceleration and the current moment of coasting speed.
S207, determining a motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque;
and S208, transmitting the braking torque required by the motor end to the motor, and triggering the motor to recover the sliding energy.
According to the triggering method for vehicle sliding energy recovery, the sliding speed and the sliding acceleration at the moment to be estimated can be determined according to the sliding speed at the current moment, the sliding speed at the historical moment and the sliding speed prediction model, and the real-time updated motor end required braking torque is obtained, wherein the sampling time between the current moment and the historical moment can be selected according to the need, for example, the sampling time can be 0.1s or 0.2s, and the like, so that the motor end required braking torque can be sent to a motor in real time. Because the motor end demand braking torque that should send is real-time, trigger motor coasts the energy recuperation and also is real-time, so, can the moderate energy recuperation that carries on, neither can influence the driving impression because of coasting the energy recuperation is too big, also can not lead to the energy recuperation inefficiency because of coasting the energy recuperation is too little, in prior art center, do not calculate the coasting energy recuperation based on the speed of a motor forecast, generally the fixed coasting that is preset is retrieved the moment, just probably causes the following condition: sometimes the slip torque is too large, resulting in a strong braking sensation, sometimes the braking torque is too small, and some of the recovered energy is lost.
The embodiment of the application discloses a triggering device for vehicle sliding energy recovery, and fig. 3 is a schematic structural diagram of the triggering device for vehicle sliding energy recovery, wherein the device comprises:
a determining module 301, configured to determine a taxi speed at a current time of the vehicle when it is detected that the vehicle enters a taxi state;
an obtaining module 302, configured to obtain a sliding speed of the vehicle at a historical moment;
the determining module 301 is further configured to determine a sliding speed at a time to be estimated according to the sliding speed at the current time, the sliding speed at the historical time, and the sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
a determining module 301, configured to determine a demanded wheel braking torque based on a current sliding speed and a sliding speed at a time to be estimated;
a determining module 301, configured to determine a motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque;
and the triggering module 303 is used for sending the motor end required braking torque to the motor and triggering the motor to recover the sliding energy.
In the embodiment of the present application, the determining module 301 is specifically configured to:
determining preset parameters of a sliding speed prediction model according to the current moment, the sliding speed at the current moment, the historical moment and the sliding speed at the historical moment;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
Determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
the demanded wheel braking torque is determined based on the current moment of coasting acceleration and the current moment of coasting speed.
In the embodiment of the application, the vehicle attribute information can comprise the whole vehicle quality, the vehicle transmission system speed ratio information and the motor efficiency.
The method and the device in the embodiment of the application are based on the same application conception.
In a third aspect of the embodiment of the present application, an electronic device is disclosed, where the electronic device includes a processor and a memory, where the memory stores at least one instruction, at least one section of program, a code set, or an instruction set, and the at least one instruction, the at least one section of program, the code set, or the instruction set is loaded and executed by the processor to implement a triggering method for vehicle coasting energy recovery.
In a fourth aspect, embodiments of the present application disclose a computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, at least one program, code set, or instruction set being loaded and executed by a processor to implement a triggering method for vehicle coasting energy recovery.
Alternatively, in an embodiment of the present application, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
It will be appreciated by those of ordinary skill in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing is only illustrative of the present application and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present application.
Claims (8)
1. A method of triggering vehicle coasting energy recovery, the method comprising:
when the vehicle is detected to enter a sliding state, determining the sliding speed of the vehicle at the current moment;
acquiring the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and a sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
determining a wheel-side required braking torque based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
determining a motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque;
transmitting the braking torque required by the motor end to a motor, and triggering the motor to recover sliding energy;
the determining the wheel side required braking torque based on the current sliding speed and the to-be-estimated sliding speed comprises the following steps:
determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated;
and determining the demanded braking torque of the wheel edge based on the sliding acceleration at the current moment and the sliding speed at the current moment.
2. The method of claim 1, wherein the determining the taxi speed at the time to be estimated from the taxi speed at the current time, the taxi speed at the historical time, and a taxi speed prediction model comprises:
determining preset parameters of the sliding speed prediction model according to the current moment, the sliding speed at the current moment, the historical moment and the sliding speed at the historical moment;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
3. The method of claim 1, wherein the vehicle attribute information includes vehicle mass, vehicle driveline speed ratio information, and motor efficiency.
4. A triggering device for vehicle coasting energy recovery, the device comprising:
the determining module is used for determining the sliding speed of the vehicle at the current moment when the vehicle is detected to enter a sliding state;
the acquisition module is used for acquiring the sliding speed of the vehicle at a historical moment, wherein the historical moment is the moment of the vehicle in a sliding state;
the determining module is used for determining the sliding speed at the moment to be estimated according to the sliding speed at the current moment, the sliding speed at the historical moment and a sliding speed prediction model; the duration between the current time and the historical time is consistent with the duration between the time to be estimated and the current time;
the determining module is used for determining the demanded braking torque of the wheel edge based on the sliding speed at the current moment and the sliding speed at the moment to be estimated; the method is particularly used for: determining the sliding acceleration at the current moment based on the sliding speed at the current moment and the sliding speed at the moment to be estimated; determining the wheel side required braking torque based on the sliding acceleration at the current moment and the sliding speed at the current moment;
the determining module is used for determining the motor end required braking torque according to the vehicle attribute information and the wheel side required braking torque;
and the triggering module is used for sending the braking torque required by the motor end to the motor and triggering the motor to recover the sliding energy.
5. The apparatus according to claim 4, wherein the determining module is specifically configured to:
determining preset parameters of the sliding speed prediction model according to the current moment, the sliding speed at the current moment, the historical moment and the sliding speed at the historical moment;
and determining the sliding speed at the moment to be estimated according to the moment to be estimated and the sliding speed prediction model for determining the preset parameters.
6. The apparatus of claim 4, wherein the vehicle attribute information includes vehicle mass, vehicle driveline speed ratio information, and motor efficiency.
7. An electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the triggering method for vehicle coasting energy recovery of any one of claims 1-3.
8. A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by a processor to implement the triggering method for vehicle coasting energy recovery of any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911318598.8A CN111143940B (en) | 2019-12-19 | 2019-12-19 | Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911318598.8A CN111143940B (en) | 2019-12-19 | 2019-12-19 | Triggering method and device for vehicle sliding energy recovery, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
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| CN111143940A CN111143940A (en) | 2020-05-12 |
| CN111143940B true CN111143940B (en) | 2023-10-27 |
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| CN111982150A (en) * | 2020-08-26 | 2020-11-24 | 广州小鹏汽车科技有限公司 | Sliding distance testing method and device, vehicle and storage medium |
| CN114475260B (en) * | 2020-11-13 | 2023-07-14 | 比亚迪股份有限公司 | Energy recovery method and device, electric automobile and storage medium |
| CN116424101B (en) * | 2023-05-08 | 2024-03-15 | 广州汽车集团股份有限公司 | Vehicle coasting energy recovery control method, electronic device, and storage medium |
| CN116513191B (en) * | 2023-06-28 | 2023-09-26 | 小米汽车科技有限公司 | Vehicle driving anti-skid method and device, vehicle and storage medium |
| CN116853256B (en) * | 2023-08-07 | 2024-03-22 | 广州汽车集团股份有限公司 | Vehicle control method, device, equipment and storage medium |
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