CN111959294A - Energy recovery torque quitting control method and system, vehicle and storage medium - Google Patents
Energy recovery torque quitting control method and system, vehicle and storage medium Download PDFInfo
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- CN111959294A CN111959294A CN202010895507.3A CN202010895507A CN111959294A CN 111959294 A CN111959294 A CN 111959294A CN 202010895507 A CN202010895507 A CN 202010895507A CN 111959294 A CN111959294 A CN 111959294A
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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
- B60L15/2009—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 for braking
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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
- B60L7/18—Controlling the braking effect
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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
- B60L2240/421—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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- 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
- B60L2240/48—Drive Train control parameters related to transmissions
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a control method, a system, a vehicle and a storage medium for energy recovery torque quitting.A vehicle control unit is used for acquiring a driving signal of an electric vehicle, the vehicle enters an energy recovery mode under the condition that a plurality of energy recovery conditions are met, the vehicle control unit is used for judging whether a brake pedal is stepped on, and if the brake pedal is not stepped on, the vehicle enters a sliding energy recovery mode; if the vehicle is stepped on, the vehicle enters a sliding energy recovery and braking energy recovery common recovery management mode, meanwhile, the vehicle control unit calculates braking and sliding energy recovery torque values, then energy recovery exits, meanwhile, whether the recovery torque values are suddenly changed or not is judged, and under the situation that sudden changes occur, final output torque is controlled based on time filtering. The invention reduces the abrupt feeling caused by the sudden change of the torque when the electric automobile passes through the deceleration strip or the pothole road surface and other working conditions, and improves the smoothness and the comfort when the electric automobile passes through the deceleration strip or the pothole road surface.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a control method and system for energy recovery torque quitting, a vehicle and a storage medium.
Background
With increasingly serious problems of environmental pollution, energy shortage and the like and the ever-increasing environmental awareness of people, the new energy automobile industry is vigorously and rapidly developed. The pure electric vehicle is an important research object in the field of new energy vehicles, has the advantages of energy conservation, environmental protection, low noise and the like, and is the main direction of development of the automobile industry. When the electric automobile runs and an accelerator pedal is loosened or a brake is stepped on, the energy recovery stage is entered, the speed of the automobile is reduced and the electric quantity of the battery is supplemented through the negative excitation effect of the motor, so that the purpose of prolonging the running mileage of the battery is achieved.
When the electric automobile slows down and passes through a speed bump or a pothole road surface and other working conditions, the ABS system starts to work in consideration of the safety of the electric automobile, and at the moment, the energy recovery torque (braking energy recovery torque and sliding energy recovery torque) must be quitted so as not to influence the work of the ABS system. The mode of energy recovery quitting has a great relation with the stability and smoothness of automobile driving, and if the ABS system is activated at present, the energy recovery torque immediately quits directly, so that unpleasant and abrupt driving experience can be brought to a driver.
To overcome this problem, the publication CN104590037A discloses "an energy feedback control method for a pure electric vehicle", which includes the following steps: firstly, on the premise that an accelerator pedal is released and a vehicle is in a forward gear, judging whether an ABS is started, and if the ABS is not started, entering a feedback mode; a feedback mode selection step: after entering a feedback mode, judging whether a brake pedal is stepped on, if yes, entering the brake feedback mode by the vehicle, and if not, entering a sliding feedback mode, calculating feedback torque by a Vehicle Control Unit (VCU), and storing the recovered energy into a power battery; when the vehicle is in a braking or sliding feedback mode, whether the ABS is started or not is monitored in real time, and if the ABS is started, the feedback mode is exited. The feedback torque is determined through the maximum receiving capacity of the power battery, the actual speed reduction working condition of the vehicle and the feedback capacity of the motor, the driving range of the pure electric vehicle is prolonged as far as possible on the premise of ensuring the safety of the vehicle, and the problem of vehicle forward rush caused when the vehicle passes through a speed reduction belt or a pothole road surface still cannot be solved.
Further, as disclosed in publication No. CN109808502, "an energy feedback exit control method suitable for a pure electric vehicle" includes a1: ABS start; a2, judging whether the ABS message is an energy feedback exit message and whether the energy feedback exit message is valid; if not, continuing energy feedback; if yes, go to step A3; a3: and determining whether to exit the energy feedback system according to the rotating speed of the motor or the speed of the driving wheel. The method can effectively solve the problem that when the electric motor coach brakes on the road surface with low adhesion coefficient such as a wet road surface or the like after rain, the ABS starts to enable energy feedback to exit immediately, and then the braking force is reduced instantly to cause the vehicle to jump forwards. The method is simple and easy to implement, energy feedback and ABS performance are considered, forward running of the vehicle is avoided when the energy feedback exits, driving of a driver and comfort of passengers are guaranteed, and the problem of vehicle forward rushing caused when the vehicle passes through a deceleration strip or a pothole road surface still cannot be solved.
Therefore, it is necessary to develop a control method, a system, a vehicle, and a storage medium for energy recovery torque exit.
Disclosure of Invention
In view of the above, the present invention provides a method, a system, a vehicle and a storage medium for controlling energy recovery torque exit, which are used to solve the technical problem of vehicle front rush caused by sudden change of a target torque value when an electric vehicle passes through a speed bump or a pothole road surface.
In a first aspect, the present invention provides a method of controlling energy recovery torque exit, comprising:
acquiring running signals of the electric automobile through a vehicle controller, wherein the running signals comprise gear signals, accelerator pedal signals, vehicle speed signals and ABS signals;
if the opening degree value of the accelerator pedal is smaller than a first preset value, the electric automobile is in a forward gear, the speed value is higher than a second preset value, the energy recovery of the electric automobile is not forbidden, the ABS is not started, the power battery allows the energy recovery, and the automobile body stabilizing system is in an inactive state, the electric automobile enters an energy recovery mode, otherwise, the electric automobile does not enter the energy recovery mode;
after the electric automobile enters an energy recovery mode, whether a brake pedal is stepped on or not is judged through a vehicle control unit, if the brake pedal is not stepped on, the electric automobile enters a sliding energy recovery mode, and recovered energy is stored in a power battery; if the brake pedal is stepped on, the electric automobile enters a sliding energy recovery and braking energy recovery common recovery management mode, and the vehicle control unit calculates braking and sliding energy recovery torque values and stores the recovered energy to a power battery;
after passing through the energy recovery mode or the sliding energy recovery and braking energy recovery common recovery management mode, judging whether the energy recovery condition meets a preset condition, if so, exiting the energy recovery, and if not, continuing to judge until the energy recovery condition is met;
and after energy recovery exits, judging whether the recovery torque value changes suddenly, if so, outputting torque based on time filtering control, and otherwise, continuously judging the recovery torque value until the recovery torque value changes suddenly.
Further, when the electric automobile enters a coasting energy recovery mode, the vehicle control unit calculates a first coasting recovery torque value and sends the first coasting recovery torque value to the vehicle body stabilization system, and the vehicle body stabilization system sends a first coasting recovery torque target value to the vehicle control unit for arbitration after considering safety factors of the electric automobile.
Further, when the electric vehicle enters a coasting energy recovery and braking energy recovery common recovery management mode, the vehicle control unit calculates a second coasting recovery torque value and a second braking recovery torque value, and sends the second coasting recovery torque value and the second braking recovery torque value to the vehicle body stabilizing system, and the vehicle body stabilizing system sends the second coasting recovery torque target value and the second braking recovery torque target value to the vehicle control unit for arbitration after considering safety factors of the electric vehicle.
Further, the vehicle control unit performs torque sudden change control judgment on the arbitrated recovered torque value, and if the recovered torque value is judged to have sudden change in the adjacent period and the change value of the recovered torque is greater than a third preset value or a fourth preset value, the vehicle control unit changes the recovered torque value to a target torque value within a certain time, wherein the torque sudden change judgment conditions include vehicle speed, an ABS state, torque variation and vehicle gear.
Further, the filter time is determined based on the vehicle speed and the initial torque target value.
Further, the vehicle control unit sends the filtered torque demand value to the motor controller, and the motor controller executes the torque demand value according to the torque demand value sent by the vehicle control unit.
In a second aspect, the present invention further provides a control system for energy recovery torque exit, including a memory and a controller, where the memory stores a computer readable program, and the controller invokes the computer readable program to execute the steps of the control method for energy recovery torque exit.
In a third aspect, the invention further provides a vehicle, which adopts the energy recovery torque exit control system.
In a fourth aspect, the present invention also provides a storage medium storing one or more programs which, when executed by one or more processors, perform the steps of the method for controlling energy recovery torque exit.
The invention brings the following beneficial effects:
according to the control method, the system, the vehicle and the storage medium for energy recovery torque quitting, the vehicle adopts a torque control method to divide control into four stages, namely a driver required torque analysis stage, a driving performance processing stage, a chassis safety torque intervention stage and an actual torque execution stage. And in the chassis torque intervention stage, the torque after the chassis intervention is subjected to time-based first-order filtering, and the size of a filtering parameter is related to the vehicle speed and the driver required torque. The invention solves the problem of vehicle forward rush caused by sudden change of torque when the electric vehicle passes through a deceleration strip or a pothole road surface and the target torque is suddenly changed. The filtering control of the target torque based on time also enables the actual torque to quickly and smoothly reach the target torque value, reduces abrupt change of the torque, and improves the smoothness and comfort when the whole vehicle passes through a deceleration strip or a pothole road surface.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a logic diagram of the energy recovery torque exit control method provided by the present invention;
FIG. 2 is a flow chart of a method of controlling an energy recovery torque exit provided by the present invention;
FIG. 3 is a logic block diagram of the energy recovery torque exit control method provided by the present invention;
FIG. 4 is a timing diagram of the energy recovery torque exit control method provided by the present invention.
Detailed Description
As shown in fig. 1, a method for controlling an energy recovery torque exit includes the steps of:
step S1, acquiring driving signals of the electric automobile through the whole automobile controller, wherein the driving signals comprise gear signals, accelerator pedal signals, speed signals and ABS signals;
step S2, if the opening degree value of the accelerator pedal signal is detected to be smaller than a first preset value, the electric automobile is in a forward gear, the speed value of the speed signal is detected to be higher than a second preset value, the energy recovery of the electric automobile is not forbidden, the ABS signal is detected not to be started, the energy recovery of the battery is allowed, the automobile body stabilizing system is in an unactivated state, the electric automobile enters an energy recovery mode, and otherwise the electric automobile does not enter the energy recovery mode;
step S3, after the electric automobile enters an energy recovery mode, the whole vehicle controller judges whether a brake pedal is treaded, if the brake pedal is not treaded, the electric automobile enters a sliding energy recovery mode, and recovered energy is stored in a power battery; if the brake pedal is stepped on, the electric automobile enters a sliding energy recovery and braking energy recovery common recovery management mode, and the vehicle control unit calculates braking and sliding energy recovery torque values and stores the recovered energy to the power battery.
Step S4, after passing through the energy recovery mode or the combined recovery management mode of coasting energy recovery and braking energy recovery, determining whether the energy recovery condition satisfies a preset condition, if so, exiting energy recovery, and if not, continuing to determine until the energy recovery condition is satisfied.
Specifically, as shown in fig. 2, firstly, a vehicle controller collects driving signals, where the driving signals include a vehicle speed signal, a gear signal, an ABS anti-lock system signal, and the like, and then, determines whether the electric vehicle enters an energy recovery mode, and if it is detected that the following conditions are all satisfied at the same time:
a. the opening value of the accelerator pedal signal is smaller than a first preset value;
b. the vehicle speed of the vehicle speed signal is greater than a second preset value;
c. the electric automobile is in a forward gear;
d. the electric automobile has no fault related to forbidding energy recovery;
e, ABS anti-lock braking system signal is not started;
f. the battery allows energy recovery;
g. the vehicle body stabilizing system is in an unactivated dynamic state;
and the electric automobile enters an energy recovery mode, and if any one condition is not met, the electric automobile cannot enter the energy recovery mode. When the electric automobile enters an energy recovery mode, the vehicle control unit calculates an ability recovery torque value according to the vehicle speed, the capacity of a battery and the capacity of a motor, and simultaneously judges whether a brake pedal is stepped on or not in the process, if the brake pedal is not stepped on, the vehicle enters a sliding energy recovery mode, the vehicle control unit calculates a first sliding energy recovery torque value and sends the first sliding energy recovery torque value to an ESP (vehicle body stability system), and the ESP sends a sliding energy recovery torque target value to a VCU (vehicle control unit) for arbitration after comprehensively considering vehicle safety related factors to obtain a recovery torque value. If the vehicle is judged to be stepped on, the vehicle enters a sliding energy recovery and braking energy recovery common recovery management mode, the vehicle body stabilization system calculates a second sliding energy recovery torque value and a second braking energy recovery torque value and sends the second sliding energy recovery torque value and the second braking energy recovery torque value to the vehicle body stabilization system, the vehicle body stabilization system comprehensively considers related safety factors of the electric vehicle and sends the second sliding energy recovery torque target value and the braking energy recovery torque target value to the vehicle body stabilization system for arbitration to obtain a recovery torque value, and energy recovery exits after the judgment condition of deceleration strip control method activation is met. And then the whole vehicle controller performs torque sudden change control judgment on the arbitrated recovery torque value, and changes the recovery torque value to a target torque value within a first preset time or a second preset time based on triggering of time filtering if judging that the recovery torque value is suddenly changed in an adjacent period and the change value of the recovery torque is greater than a third preset value or a fourth preset value according to the judgment conditions of the torque sudden change control, wherein the judgment conditions comprise a vehicle speed, an ABS (anti-lock brake system) state, a torque variation and a vehicle gear. And then the finished vehicle controller sends the filtered torque required value to the motor controller, and the motor controller executes the torque required value according to the finished vehicle controller.
In the embodiment, when the electric vehicle usually passes through a speed bump or a pothole road surface, the torque is suddenly changed to recover energy, and meanwhile, the arbitration request signal of the energy recovery torque is arbitrated and judged. The energy recovery torque arbitration demand signal comprises an ESP sliding energy recovery torque value, an ESP sliding energy recovery torque effective flag bit, a VCU sliding energy recovery torque value and an ESP braking energy recovery torque value. And when the judgment condition based on the actual filtering control meets any one, entering time filtering control to output an energy recovery torque value. Or when the deceleration strip filtering control condition is activated, the filtering module carries out filtering processing on the arbitrated recovery torque and finishes filtering control within the set filtering time.
Specifically, as shown in fig. 3 or fig. 4, the main steps of exiting the control when the electric vehicle runs through a deceleration strip or a pothole road surface for torque energy recovery include:
firstly, setting a recovery torque quitting mutation control filtering time t1 s;
and then arbitrating the ESP sliding energy recovery torque value, the VCU sliding energy recovery torque value and the ESP braking energy recovery torque value, and if the torque change of the arbitrated recovery torque value in unit time exceeds a third preset value T3N.m, determining that the torque is suddenly changed.
It should be noted that, if the opening degree of the accelerator pedal is smaller than the first preset value T1 when the recovery torque suddenly changes, and the vehicle is in the forward gear, and the vehicle speed is higher than the second preset value T2, the vehicle is in the drive gear, and there is no fault that energy recovery is prohibited, after all the above conditions are met, the time-based filtering control is activated, the recovery torque is subjected to filtering control within the first preset time T1s, and the recovery torque recovery sudden change control filtering time is set to the second preset time T2 s. In the process of entering after the recovery torque exits, if the torque change of the arbitrated recovery torque value exceeds the fourth preset value T4N.m in unit time, the arbitration torque value is also judged to have sudden change, filtering control is triggered, and the recovery torque is subjected to filtering control in the second preset time t2s so as to finally output the energy recovery torque. The filtering control of the invention adopts the first-order filtering control based on time.
In this embodiment, a control system for energy recovery torque exit is further provided, which includes a memory and a controller, where the memory stores a computer readable program, and the controller invokes the steps of the method for controlling energy recovery torque exit, where the computer readable program is capable of executing the steps of the method for controlling energy recovery torque exit.
In the embodiment, a vehicle is further provided, and the energy recovery torque exit control system is adopted.
In this embodiment, a storage medium is also provided, which stores one or more programs that, when executed by one or more processors, implement the steps of the energy recovery torque exit control method.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (9)
1. A method of controlling energy recovery torque exit, comprising:
acquiring running signals of the electric automobile through a vehicle controller, wherein the running signals comprise gear signals, accelerator pedal signals, vehicle speed signals and ABS signals;
if the opening degree value of the accelerator pedal is smaller than a first preset value, the electric automobile is in a forward gear, the speed value is higher than a second preset value, the energy recovery of the electric automobile is not forbidden, the ABS is not started, the power battery allows the energy recovery, and the automobile body stabilizing system is in an inactive state, the electric automobile enters an energy recovery mode, otherwise, the electric automobile does not enter the energy recovery mode;
after the electric automobile enters an energy recovery mode, whether a brake pedal is stepped on or not is judged through a vehicle control unit, if the brake pedal is not stepped on, the electric automobile enters a sliding energy recovery mode, and recovered energy is stored in a power battery; if the brake pedal is stepped on, the electric automobile enters a sliding energy recovery and braking energy recovery common recovery management mode, and the vehicle control unit calculates braking and sliding energy recovery torque values and stores the recovered energy to a power battery;
after the energy recovery mode or the combined recovery management mode of the sliding energy recovery and the braking energy recovery, judging whether the energy recovery condition meets a preset condition, if so, exiting the energy recovery, and if not, continuing to judge until the energy recovery condition is met;
and after energy recovery exits, judging whether the recovery torque value changes suddenly, if so, controlling the output torque based on time filtering, and otherwise, continuously judging the recovery torque value until the recovery torque value changes suddenly.
2. The energy recovery torque exit control method according to claim 1, wherein when the electric vehicle enters the coasting energy recovery mode, the vehicle control unit calculates a first coasting recovery torque value and sends the first coasting recovery torque value to the vehicle body stabilization system, and the vehicle body stabilization system sends a first coasting recovery torque target value to the vehicle control unit for arbitration after considering a safety factor of the electric vehicle.
3. The energy recovery torque exit control method according to claim 1, wherein when the electric vehicle enters a coasting energy recovery and braking energy recovery joint recovery management mode, the vehicle control unit calculates a second coasting recovery torque value and a braking recovery torque value and sends the second coasting recovery torque value and the braking recovery torque value to a vehicle body stabilization system, and the vehicle body stabilization system sends a second coasting recovery torque target value and a braking recovery torque target value to the vehicle control unit for arbitration after considering a safety factor of the electric vehicle.
4. The energy recovery torque quitting control method according to claim 2 or 3, wherein the vehicle control unit performs torque sudden change control judgment on the arbitrated recovery torque value, and if the recovery torque value is judged to have sudden changes in adjacent cycles and the change value of the recovery torque is greater than a third preset value or a fourth preset value, the vehicle control unit changes the recovery torque value to a target torque value within a certain time, wherein the judgment conditions of the torque sudden changes include vehicle speed, ABS state, torque variation and vehicle gear.
5. The method of claim 4, wherein the filter time is determined based on a vehicle speed and an initial torque target value.
6. The energy recovery torque exit control method according to claim 4, wherein the vehicle control unit sends the filtered torque demand value to the motor controller, and the motor controller executes according to the torque demand value sent by the vehicle control unit.
7. A control system for energy recovery torque exit comprising a memory and a controller, the memory having a computer readable program stored therein, wherein the controller invokes the computer readable program to perform the steps of the method for energy recovery torque exit control of any of claims 1 to 6.
8. A vehicle employing the energy recovery torque exit control system of claim 7.
9. A storage medium storing one or more programs which, when executed by one or more processors, implement the steps of the method of energy recovery torque exit control of any of claims 1-8.
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| CN202010895507.3A CN111959294A (en) | 2020-08-31 | 2020-08-31 | Energy recovery torque quitting control method and system, vehicle and storage medium |
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| CN202010895507.3A CN111959294A (en) | 2020-08-31 | 2020-08-31 | Energy recovery torque quitting control method and system, vehicle and storage medium |
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Cited By (8)
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| CN113547930A (en) * | 2021-07-30 | 2021-10-26 | 重庆长安新能源汽车科技有限公司 | Intelligent energy-saving control method and device for following running of pure electric vehicle and vehicle |
| CN113547922A (en) * | 2021-07-09 | 2021-10-26 | 江铃汽车股份有限公司 | Pure electric vehicle energy recovery torque exit slope control method |
| CN113635772A (en) * | 2021-09-17 | 2021-11-12 | 广州小鹏汽车科技有限公司 | Energy recovery control method, control device, vehicle, and storage medium |
| CN113650504A (en) * | 2021-07-16 | 2021-11-16 | 一汽奔腾轿车有限公司 | Method for coordinately controlling braking energy recovery and sliding energy recovery of electric vehicle |
| CN115214373A (en) * | 2021-12-01 | 2022-10-21 | 广州汽车集团股份有限公司 | Driving control method and system based on energy recovery working condition and automobile |
| CN115489334A (en) * | 2022-08-31 | 2022-12-20 | 成都赛力斯科技有限公司 | Energy recovery negative torque control method, device, computer equipment and storage medium |
| CN115626064A (en) * | 2022-10-19 | 2023-01-20 | 爱驰汽车有限公司 | Energy recovery method and system based on vehicle ESC controller and automobile |
| WO2024109078A1 (en) * | 2022-11-24 | 2024-05-30 | 欣旺达动力科技股份有限公司 | Brake energy recovery method, controller, and computer readable storage medium |
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