CN112026526B - Energy recovery control method and device and vehicle - Google Patents
Energy recovery control method and device and vehicle Download PDFInfo
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- CN112026526B CN112026526B CN202010935358.9A CN202010935358A CN112026526B CN 112026526 B CN112026526 B CN 112026526B CN 202010935358 A CN202010935358 A CN 202010935358A CN 112026526 B CN112026526 B CN 112026526B
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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
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
Abstract
The embodiment of the invention discloses an energy recovery control method, an energy recovery control device and a vehicle. The method comprises the following steps: when a user steps on a brake pedal, judging whether at least one sensitive electric equipment requesting for power utilization exists or not; if so, determining that the source of the braking force is a hydraulic mechanism; and the continuous power utilization duration of the sensitive power utilization equipment is less than the first time threshold. The technical scheme provided by the embodiment of the invention can not recover energy when the sensitive electric equipment requests to use electricity, and avoids the problem of unstable voltage of the battery due to larger load.
Description
Technical Field
The embodiment of the invention relates to the technical field of energy recovery of electric vehicles, in particular to an energy recovery control method, an energy recovery control device and a vehicle.
Background
With the increasing severity of the environmental pollution and energy crisis problems, environmentally friendly energy-saving and new energy vehicles including hybrid electric vehicles, pure electric vehicles and fuel cell vehicles have become hot spots developed in various countries around the world. The energy consumed by the vehicle running under urban conditions for directly driving the vehicle to run is approximately 1/3 to 1/2. If the energy dissipated can be recycled, the energy economy of the whole vehicle can be greatly improved.
Currently, the energy recovery strategies mainly include: the method comprises an ideal braking force distribution control strategy, an optimal braking energy recovery control strategy and a parallel regenerative braking control strategy, but the three energy recovery strategies are all based on the energy, and the influence of vehicle-mounted sensitive electric equipment on driving experience is not balanced. For example, when braking energy is recovered under the limited power utilization condition of the entire vehicle (such as rainy night in summer or snowy night in winter), if a driver requests additional power utilization of sensitive power utilization equipment, for example, the driver turns on a headlamp, a battery faces a large load at the moment, and the problem of unstable voltage may be caused.
Disclosure of Invention
The invention provides an energy recovery control method, an energy recovery control device and a vehicle, which are used for preventing the problem of unstable voltage of a battery due to a large load.
In a first aspect, an embodiment of the present invention provides an energy recovery control method, where the method includes:
when a user steps on a brake pedal, judging whether at least one sensitive electric equipment requesting for power utilization exists or not;
if so, determining that the source of the braking force is a hydraulic mechanism;
wherein the duration of the continuous power utilization of the sensitive power utilization equipment is less than a first time threshold.
Optionally, the method further includes: if no sensitive electric equipment requests electricity, determining the required braking demand torque according to the angle of a brake pedal and the angular acceleration of the brake pedal;
if the braking demand torque is smaller than or equal to the maximum torque of the motor, determining that the source of the braking force comprises the motor;
and if the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism.
Optionally, the method further includes: if no sensitive power utilization equipment requests power utilization, determining the required braking demand torque according to the angle of a brake pedal and the angular acceleration of the brake pedal;
acquiring the SOC value of the battery;
judging whether the SOC value of the battery is larger than a first capacity threshold value or not;
if so, determining a braking force source according to the braking demand torque and the maximum torque of the motor;
if not, determining that the source of the braking force is a hydraulic mechanism.
Optionally, the determining a braking force source according to the braking demand torque and the maximum torque of the motor includes:
if the braking demand torque is smaller than or equal to the maximum torque of the motor, determining that the source of the braking force comprises the motor;
and if the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism.
Optionally, if the braking demand torque is greater than the maximum torque of the motor, determining that the braking force source includes the motor and the hydraulic mechanism includes:
and if the braking demand torque is larger than the maximum torque of the motor, determining the torque provided by the motor as the maximum torque of the motor, and simultaneously determining the torque provided by the hydraulic mechanism as the difference between the maximum torque of the motor and the braking demand torque.
Optionally, if the braking demand torque is greater than the maximum torque of the motor, determining that the braking force source includes the motor and the hydraulic mechanism includes:
determining the torque provided by the motor and the torque provided by the hydraulic braking mechanism according to the SOC value of the battery; wherein a sum of the torque supplied from the motor and the torque supplied from the hydraulic mechanism is equal to the braking demand torque.
Optionally, the method further includes:
judging whether slippage or emergency braking exists at present according to the wheel speed of each wheel;
if so, determining that the source of the braking force is a hydraulic mechanism.
Optionally, the sensitive electric device includes: exterior vehicle lights and blowers.
In a second aspect, an embodiment of the present invention further provides an energy recovery control device, where the device includes:
the sensitive electric equipment power utilization request judging module is used for judging whether at least one sensitive electric equipment power utilization request exists at present when a user steps on a brake pedal;
the braking force source determining module is used for determining that the braking force source is a hydraulic mechanism when at least one sensitive electric device requests electricity;
the continuous power utilization duration of the sensitive power utilization equipment is smaller than a first time threshold, and the use frequency of the sensitive power utilization equipment is larger than a first preset frequency threshold.
In a third aspect, an embodiment of the present invention further provides a vehicle, including: the brake pedal, the motor and the hydraulic mechanism are all electrically connected with the controller;
the controller comprises a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, implements the method according to the first aspect.
According to the energy recovery control method provided by the embodiment of the invention, energy recovery is not carried out when at least one sensitive electric device requests to use electricity, so that the phenomenon that the battery load is increased due to the work of a motor caused by energy recovery can be prevented, the problems of large battery load and unstable voltage which possibly occur in the energy recovery process in the prior art are solved, and the electricity utilization requirements of a driver are considered while energy recovery is realized.
Drawings
Fig. 1 is a schematic flow chart of an energy recovery control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an energy recovery control method according to a second embodiment of the present invention;
fig. 3 is a block diagram of an energy recovery control device according to a third embodiment of the present invention;
fig. 4 is a block diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but could have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a schematic flow chart of an energy recovery control method according to an embodiment of the present invention. The method can be suitable for the condition of energy recovery in the vehicle braking process, when at least one sensitive electric device requests power utilization, the vehicle is braked by adopting a hydraulic braking mode, the phenomenon of large battery load caused by energy recovery is avoided, the effect of ensuring the battery to provide stable voltage for the vehicle-mounted electric device is achieved, and the problem of low-voltage power supply caused by large battery load in the prior art is solved. The method can be executed by an energy recovery control device, the device can be realized by software and/or hardware and is generally integrated on a terminal, and the terminal can be an intelligent terminal with a processing function, such as a driving computer, a vehicle-mounted computer and the like.
Referring to fig. 1, the energy recovery control method specifically includes the steps of:
s110, when a user steps on a brake pedal, judging whether at least one sensitive electric device is required to be powered or not.
And the continuous power utilization duration of the sensitive power utilization equipment is less than the first time threshold. Specifically, the vehicle-mounted electric devices are various, and can be divided into sensitive electric devices and non-sensitive electric devices according to the duration of the continuous power utilization, the sensitive electric devices have the characteristic of short duration of the continuous power utilization, such as external vehicle lamps, which are usually turned on when the vehicle turns or the light is dim, and the non-sensitive electric devices have the characteristic of long duration of the continuous power utilization, such as a vehicle control system, which is turned on until the vehicle stops working when the vehicle starts working. It should be noted that the specific value of the first time threshold can be set by a person skilled in the art according to practical situations, and is not limited herein. Illustratively, the first time threshold is less than or equal to 5 min.
Exemplarily, table 1 is a power consumption statistical table for low-voltage electrical equipment of a pure electric vehicle according to an embodiment of the present invention. Referring to table 1, there are 12 typical conditions of the vehicle during driving: ordinary daytime, ordinary night, ordinary rainy night, summer daytime, summer night, summer rainy night, winter daytime, winter night, winter snow night, ordinary charging, summer charging, and winter charging. Generally, the rainy night in summer and the snowy night in winter are the limit conditions of the power consumption of electric equipment of the whole vehicle. The unstable working condition of the power utilization voltage equipment caused by energy recovery of the electric vehicle and further influencing the driving experience are mainly caused by the power utilization request of the short-time power utilization equipment, so that the main basis for dividing the sensitive power utilization equipment is the power utilization request of the short-time power utilization equipment. In the vehicle-mounted electric devices in table 1, an exterior lamp and a blower are exemplified.
TABLE 1 statistical table for low-voltage electrical equipment power consumption of pure electric vehicle
And S120, if so, determining that the source of the braking force is a hydraulic mechanism.
Specifically, when sensitive consumer requested the power consumption, with the load of great degree increase battery, at this moment, do not regard the motor as the braking force source but adopt hydraulic braking, so, both can realize the vehicle braking, can avoid the motor to further increase the load of battery again, and then can prevent to produce the unstable problem of low pressure power supply to ensure the driving of driving and experience.
Optionally, the method may further include:
and S130, if no sensitive electric equipment requests electricity utilization, determining the required braking demand torque according to the angle of the brake pedal and the angular acceleration of the brake pedal.
Specifically, the skilled person can refer to the prior art to determine the required braking demand torque according to the brake pedal angle and the brake pedal angular acceleration, and the details are not described herein.
S140, if the braking demand torque is smaller than or equal to the maximum torque of the motor, determining that the source of the braking force comprises the motor; and if the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism.
Specifically, the maximum torque of the motor is an inherent parameter of the motor, that is, the maximum torque that the motor can provide, and is related to a specific model of the motor.
Specifically, when the braking demand torque is smaller than or equal to the maximum torque of the motor, the motor has the capacity of independently providing the braking demand torque required by braking, and at the moment, the motor can independently provide the braking demand torque, namely, the motor is used for braking instead of hydraulic braking, so that the energy recovery can be completed to the maximum extent. When the braking demand torque is larger than the maximum torque of the motor, the motor cannot provide the braking demand torque required by braking alone, at the moment, the motor and the hydraulic mechanism can provide the braking demand torque together, namely, the motor braking and the hydraulic braking are adopted to realize braking together, so that certain energy recovery can be finished, and timely braking can be ensured.
Optionally, S140 specifically includes:
and if the braking demand torque is larger than the maximum torque of the motor, determining the torque provided by the motor as the maximum torque of the motor, and simultaneously determining the torque provided by the hydraulic mechanism as the difference between the maximum torque of the motor and the braking demand torque.
It can be understood that when the motor can not provide the braking demand torque required by braking alone, the torque provided by the motor is controlled to be the maximum torque of the motor, and meanwhile, the hydraulic mechanism can supplement the lacking torque part, so that the occupation ratio of the torque provided by the motor in the braking demand torque can be maximized within the capacity range of the motor, and the energy recovery can be carried out to a greater extent.
It can also be understood that, compared with the three energy recovery control strategies mentioned in the background art, when the energy recovery control device for executing the energy recovery control method is implemented by software, the existing hardware equipment can be utilized, no additional equipment is required, and the development cost can be reduced.
According to the energy recovery control method provided by the embodiment of the invention, energy recovery is not carried out when at least one sensitive electric device requests to use electricity, so that the phenomenon that the battery load is increased due to the work of a motor caused by energy recovery can be prevented, the problems of large battery load and unstable voltage which possibly occur in the energy recovery process in the prior art are solved, and the electricity utilization requirements of a driver are considered while the energy recovery is realized.
Example two
Fig. 2 is a schematic flow chart of an energy recovery control method according to a second embodiment of the present invention. The present embodiment is optimized based on the above embodiments. Specifically, referring to fig. 2, the method specifically includes the following steps:
s210, when a user steps on a brake pedal, judging whether at least one sensitive electric device is required to be powered on currently.
And S220, if so, determining that the source of the braking force is a hydraulic mechanism.
And S230, if no sensitive electric equipment requests electricity utilization, determining the required braking demand torque according to the angle of the brake pedal and the angular acceleration of the brake pedal.
And S240, acquiring the SOC value of the battery.
Specifically, the SOC value, i.e., the state of charge, of the battery is used to reflect the remaining capacity of the battery, and is numerically defined as the ratio of the remaining capacity to the battery capacity, which is usually expressed as a percentage. The value range is 0-100%, when SOC is 0, the battery is completely discharged, when SOC is 100%, the battery is completely full, and the value can be calculated through parameters such as battery terminal voltage, charge-discharge current and internal resistance. For example, the SOC value of the battery may be calculated by an internal resistance method, a linear model method, a kalman filter method, or other methods known to those skilled in the art, and is not limited herein.
And S250, judging whether the SOC value of the battery is larger than a first capacity threshold value or not.
Specifically, the specific value of the first capacity threshold may be set by a person skilled in the art according to practical situations, and is not limited herein, and for example, the first capacity threshold may be set to a value between 20% and 50%.
And S260, if so, determining a braking force source according to the braking demand torque and the maximum torque of the motor.
And S270, if not, determining that the source of the braking force is a hydraulic mechanism.
Specifically, the battery is required to supply electric energy to not only the motor but also other vehicle-mounted electric devices. When the SOC value of the battery is smaller than or equal to the first capacity threshold value, the residual capacity of the battery is small, at the moment, hydraulic braking can be adopted instead of motor braking, the electric energy of the battery is prevented from being further consumed by the motor braking, and therefore the battery can be enabled to provide sufficient electric energy for other vehicle-mounted electric equipment. When the SOC value of the battery is larger than the first capacity threshold value, the residual capacity of the battery is large, the battery can provide sufficient electric energy for other vehicle-mounted electric equipment, meanwhile, the electric energy can be provided for the motor, and at the moment, the source of the braking force is determined according to the braking demand torque and the maximum torque of the motor.
Optionally, S260 specifically includes: s261, if the braking demand torque is smaller than or equal to the maximum torque of the motor, determining that the source of the braking force comprises the motor; and S262, if the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism. Optionally, S263 specifically includes: and if the braking demand torque is larger than the maximum torque of the motor, determining the torque provided by the motor as the maximum torque of the motor, and simultaneously determining the torque provided by the hydraulic mechanism as the difference between the maximum torque of the motor and the braking demand torque.
Optionally, S260 specifically includes: determining the torque provided by the motor and the torque provided by the hydraulic mechanism according to the SOC value of the battery; the sum of the torque provided by the motor and the torque provided by the hydraulic braking mechanism is equal to the braking demand torque.
Specifically, a ratio of the theoretically provided torque of the motor to the maximum torque of the motor (called torque ratio, expressed in percentage) may be determined according to the SOC value of the battery, where a corresponding relationship between the SOC value of the battery and the torque ratio may be set by a person skilled in the art according to actual situations, and is not limited herein, and for example, a specific value of the SOC value of the battery and a specific value of the torque ratio are equal, for example, when the SOC value of the battery is 80%, the torque ratio is also 80%. Then, a specific value of the theoretical supply torque of the electric machine is determined based on the torque ratio and the maximum torque of the electric machine, for example, the maximum torque of the electric machine is 50N, and the torque ratio is 80%, so that the theoretical supply torque of the electric machine is determined to be 50N × 80%, or 40N. Finally, determining the torque provided by the hydraulic mechanism according to the braking demand torque and the torque theoretically provided by the motor, and if the braking demand torque is smaller than or equal to the torque theoretically provided by the motor, determining that the torque provided by the motor is equal to the braking demand torque, and meanwhile, the torque provided by the hydraulic mechanism is equal to 0; and if the braking demand torque is larger than the torque theoretically provided by the motor, determining that the torque provided by the motor is equal to the torque theoretically provided by the motor, and meanwhile, determining that the torque provided by the hydraulic mechanism is equal to the difference between the braking demand torque and the torque theoretically provided by the motor. For example, if the motor theoretically provides a torque of 40N and the braking demand torque is 30N, it is determined that the torque provided by the motor is equal to 30N and the torque provided by the hydraulic mechanism is equal to 0N. If the theoretically provided torque of the motor is 40N and the braking demand torque is 60N, the torque provided by the motor is determined to be equal to 40N, and the torque provided by the hydraulic mechanism is determined to be equal to 20N.
According to the energy recovery control method provided by the embodiment of the invention, the SOC value of the battery is taken into consideration when the source of the braking force is determined, and hydraulic braking is adopted instead of motor braking when the SOC value of the battery is smaller than the first capacity threshold, so that the battery can be ensured to provide sufficient electric energy for other vehicle-mounted electric equipment, and further the normal work of other vehicle-mounted electric equipment is ensured.
On the basis of the above technical solution, optionally, the method further includes: judging whether slippage or emergency braking exists at present according to the wheel speed of each wheel; if so, determining that the source of the braking force is a hydraulic mechanism.
Specifically, there are various specific ways to determine whether there is slip or emergency braking at present according to the wheel speed of each wheel, and those skilled in the art can set the method according to actual conditions, which is not limited herein. For example, when the difference between the wheel speed of one wheel and the wheel speeds of the other three wheels exceeds a first tolerance range, or when there are two wheels and the other two wheelsBeyond a first tolerance range, it may be determined that slip is currently present. For example, wheel speed acceleration is calculated based on wheel speed, and a rate of change of wheel speed acceleration is calculated, and when the rate of change of wheel speed acceleration is greater than a first rate of change threshold, it is determined that slip is currently present. It should be noted that the specific values of the first tolerance range and the first change rate threshold may be set by those skilled in the art according to practical situations, and are not limited herein. Illustratively, the first tolerance range may be 5m/s and the first rate of change threshold may be 8m/s2。
It can be understood that when slippage or emergency braking exists at present, stability of running can be guaranteed by timely adopting hydraulic braking, and safety and controllability of the vehicle are improved.
EXAMPLE III
Fig. 3 is a block diagram of an energy recovery control device according to a third embodiment of the present invention. Referring to fig. 4, the apparatus includes: the sensitive electric equipment power utilization request judging module 310 is configured to, when a user steps on a brake pedal, judge whether at least one sensitive electric equipment power utilization request exists at present; the braking force source determining module 320 is used for determining that the braking force source is a hydraulic mechanism when at least one sensitive electric device requests electricity utilization; and the continuous power utilization duration of the sensitive power utilization equipment is less than the first time threshold.
On the basis of the above technical solution, optionally, the apparatus further includes:
the braking demand torque determining module is used for requesting power utilization at the current non-sensitive power utilization equipment and determining the required braking demand torque according to the angle of the brake pedal and the angular acceleration of the brake pedal;
the braking force source determining module 320 is specifically configured to determine that the braking force source includes the motor when the braking demand torque is less than or equal to the maximum torque of the motor; and when the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism.
Optionally, the apparatus further comprises:
the braking demand torque determining module is used for determining the required braking demand torque according to the angle of the brake pedal and the angular acceleration of the brake pedal when the current non-sensitive electric equipment requests electricity utilization;
the SOC value acquisition module is used for acquiring the SOC value of the battery;
the threshold judging module is used for judging whether the SOC value of the battery is larger than a first capacity threshold or not;
the braking force source determining module 320 is specifically configured to determine a braking force source according to the braking demand torque and the maximum motor torque when the SOC value of the battery is greater than the first capacity threshold; and when the SOC value of the battery is less than or equal to a first capacity threshold value, determining that the source of the braking force is a hydraulic mechanism.
Optionally, the braking force source determining module 320 is specifically configured to determine that the braking force source includes the motor when the braking demand torque is less than or equal to the maximum torque of the motor; and when the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism.
Optionally, the braking force source determining module 320 is specifically configured to determine, if the braking demand torque is greater than the maximum torque of the motor, that the torque provided by the motor is the maximum torque of the motor, and meanwhile, determine, that the torque provided by the hydraulic mechanism is a difference between the maximum torque of the motor and the braking demand torque.
Optionally, the braking force source determining module 320 is specifically configured to determine the torque provided by the motor and the torque provided by the hydraulic braking mechanism according to the SOC value of the battery; wherein the sum of the torque provided by the motor and the torque provided by the hydraulic mechanism is equal to the braking demand torque.
Optionally, the apparatus further comprises:
the device comprises a slippage or emergency braking judging module, a wheel speed judging module and a wheel speed judging module, wherein the slippage or emergency braking judging module is used for judging whether slippage or emergency braking exists at present according to the wheel speed of each wheel;
the source of braking force determination module 320 is further configured to determine that the source of braking force is a hydraulic machine when slip or emergency braking is currently present.
Optionally, the sensitive electrical device includes: exterior vehicle lights and blowers.
The energy recovery control device provided by the third embodiment of the invention can be used for executing the energy recovery control method provided by the above embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a block diagram of a vehicle according to a fourth embodiment of the present invention. Referring to fig. 4, the vehicle includes a brake pedal 420, an electric motor 430, a hydraulic mechanism 440, and a controller 410, the brake pedal 420, the electric motor 430, and the hydraulic mechanism 440 all being electrically connected to the controller 410; the controller 410 comprises a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, implements the energy recovery control method according to any embodiment of the invention.
The controller in the vehicle provided by the fourth embodiment of the invention can be used for executing the energy recovery control method provided by the fourth embodiment of the invention, and has corresponding functions and beneficial effects.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. An energy recovery control method, characterized by comprising:
when a user steps on a brake pedal, judging whether at least one sensitive electric equipment requesting for power utilization exists or not;
if so, determining that the source of the braking force is a hydraulic mechanism;
the vehicle-mounted electric equipment can be divided into sensitive electric equipment and non-sensitive electric equipment according to the duration of the continuous power utilization, and the sensitive electric equipment is equipment with the duration of the continuous power utilization; the non-sensitive electricity utilization equipment is equipment with long duration of continuous electricity utilization; the continuous power utilization duration of the sensitive power utilization equipment is smaller than a first time threshold.
2. The energy recovery control method according to claim 1, characterized by further comprising:
if no sensitive power utilization equipment requests power utilization, determining the required braking demand torque according to the angle of a brake pedal and the angular acceleration of the brake pedal;
if the braking demand torque is smaller than or equal to the maximum torque of the motor, determining that the source of the braking force comprises the motor;
and if the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism.
3. The energy recovery control method according to claim 1, characterized by further comprising:
if no sensitive electric equipment requests electricity, determining the required braking demand torque according to the angle of a brake pedal and the angular acceleration of the brake pedal;
acquiring the SOC value of the battery;
judging whether the SOC value of the battery is larger than a first capacity threshold value or not;
if so, determining a braking force source according to the braking demand torque and the maximum torque of the motor;
if not, determining that the source of the braking force is a hydraulic mechanism.
4. The energy recovery control method according to claim 3, wherein the determining a source of braking force based on the braking demand torque and a motor maximum torque includes:
if the braking demand torque is smaller than or equal to the maximum torque of the motor, determining that the source of the braking force comprises the motor;
and if the braking demand torque is larger than the maximum torque of the motor, determining that the braking force source comprises the motor and the hydraulic mechanism.
5. The energy recovery control method according to claim 2 or 4, wherein the determining that the source of the braking force includes the electric motor and the hydraulic mechanism if the braking demand torque is larger than the maximum torque of the electric motor includes:
and if the braking demand torque is larger than the maximum torque of the motor, determining the torque provided by the motor as the maximum torque of the motor, and simultaneously determining the torque provided by the hydraulic mechanism as the difference between the maximum torque of the motor and the braking demand torque.
6. The energy recovery control method according to claim 4, wherein the determining that the source of the braking force includes the electric motor and the hydraulic mechanism if the braking demand torque is larger than the maximum torque of the electric motor includes:
determining the torque provided by the motor and the torque provided by the hydraulic braking mechanism according to the SOC value of the battery; wherein the sum of the torque supplied from the motor and the torque supplied from the hydraulic mechanism is equal to the braking demand torque.
7. The energy recovery control method according to claim 1, characterized by further comprising:
judging whether slippage or emergency braking exists at present according to the wheel speed of each wheel;
if yes, the source of the braking force is determined to be the hydraulic mechanism.
8. The energy recovery control method of claim 1, wherein the sensitive electric device comprises: exterior vehicle lights and a blower.
9. An energy recovery control device, comprising:
the sensitive electric equipment power utilization request judging module is used for judging whether at least one sensitive electric equipment power utilization request exists at present when a user steps on a brake pedal;
the braking force source determining module is used for determining that the braking force source is a hydraulic mechanism when at least one sensitive electric device requests electricity;
the vehicle-mounted electric equipment can be divided into sensitive electric equipment and non-sensitive electric equipment according to the duration of the continuous power utilization, and the sensitive electric equipment is equipment with the duration of the continuous power utilization; the non-sensitive electricity utilization equipment is equipment with long duration of continuous electricity utilization; the continuous power utilization duration of the sensitive power utilization equipment is smaller than a first time threshold.
10. A vehicle, characterized by comprising: the brake pedal, the motor and the hydraulic mechanism are all electrically connected with the controller;
the controller comprises a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, implements the method of any one of claims 1-8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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