CN112158075A - Energy recovery method, energy recovery device, vehicle and storage medium - Google Patents

Energy recovery method, energy recovery device, vehicle and storage medium Download PDF

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Publication number
CN112158075A
CN112158075A CN202011079661.XA CN202011079661A CN112158075A CN 112158075 A CN112158075 A CN 112158075A CN 202011079661 A CN202011079661 A CN 202011079661A CN 112158075 A CN112158075 A CN 112158075A
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recovery
battery
vehicle
power
energy
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CN202011079661.XA
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CN112158075B (en
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张佳骞
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Priority to PCT/CN2021/122824 priority patent/WO2022073503A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
    • B60L58/26—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by cooling
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
    • B60L58/27—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by heating
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Abstract

The application discloses an energy recovery method, an energy recovery device, a vehicle and a storage medium, wherein the energy recovery method is applied to the vehicle comprising a battery, and comprises the following steps: when the vehicle is braked, determining a recovery power threshold according to the current state of the battery, wherein the recovery power threshold is used for representing the maximum value of the recovery power allowed by the battery in the current state; acquiring the required recovery torque of vehicle braking according to the current braking information; determining required recovery power according to the required recovery torque; determining an energy recovery strategy according to the recovery power threshold and the required recovery power; and recovering braking energy of the vehicle according to the energy recovery strategy. The method can take the state of the battery into consideration when energy recovery is carried out in the braking process of the vehicle, so that the damage of the energy recovery to the battery is avoided.

Description

Energy recovery method, energy recovery device, vehicle and storage medium
Technical Field
The present disclosure relates to the field of vehicle braking technologies, and more particularly, to an energy recovery method, an energy recovery device, a vehicle, and a storage medium.
Background
The environmental and energy shortage problem promotes the rapid development of the electric vehicle. Since birth, the cruising ability of the electric automobile is an important factor restricting the popularization and application thereof, and therefore the electric automobile is concerned. In addition to the improvement of the driving mode, the recovery of braking energy is also one of the important technologies of modern electric vehicles and hybrid vehicles, and the recovered braking energy can increase the endurance mileage properly. Therefore, the vehicle usually performs an energy recovery process during braking, and the electric energy recovered from the braking process is stored in a battery of the vehicle again. Although the braking energy recovery energy in the prior art can convert the kinetic energy of the vehicle in the braking process into electric energy and store the electric energy into the battery, the battery may be damaged due to the fact that the battery has a high requirement on charging, and the electric energy recovered uniformly in the braking process is directly charged into the battery in different states of the battery.
Disclosure of Invention
In view of the above problems, the present application provides an energy recovery method, an energy recovery device, a vehicle, and a storage medium, which can reduce damage to a battery caused by energy recovery by taking into account a state of the battery when energy recovery is performed during braking of the vehicle.
In a first aspect, an embodiment of the present application provides an energy recovery method applied to a vehicle including a battery, the energy recovery method including: when the vehicle is braked, determining a recovery power threshold according to the current state of the battery, wherein the recovery power threshold is used for representing the maximum value of the recovery power allowed by the battery in the current state; acquiring the required recovery torque of vehicle braking according to the current braking information; determining required recovery power according to the required recovery torque; determining an energy recovery strategy according to the recovery power threshold and the required recovery power; and recovering braking energy of the vehicle according to the energy recovery strategy.
In a second aspect, an embodiment of the present application provides an energy recovery device applied to a vehicle including a battery, the energy recovery device including: the first determination module is used for determining a recovery power threshold according to the current state of the battery when the vehicle brakes, and the recovery power threshold is used for representing the maximum value of the recovery power allowed by the battery in the current state; the acquisition module is used for acquiring the required recovery torque of vehicle braking according to the current braking information; the second determining module is used for determining the required recovery power according to the required recovery torque; the third determining module is used for determining an energy recovery strategy according to the recovery power threshold and the required recovery power; and the recovery module is used for recovering the braking energy of the vehicle according to the energy recovery strategy.
In a third aspect, an embodiment of the present application provides a vehicle, including a battery, and further including a memory; one or more processors coupled with the memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the energy recovery method as provided above in the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which program codes are stored, and the program codes can be called by a processor to execute the energy recovery method provided in the first aspect.
According to the scheme provided by the application, when the vehicle brakes, the recovery power threshold is determined according to the current state of the battery, the recovery power threshold is used for representing the maximum value of the recovery power allowed by the battery in the current state, the required recovery torque of the vehicle brake is acquired according to the current brake information, the required recovery power is determined according to the required recovery torque, the energy recovery strategy is determined according to the recovery power threshold and the required recovery power, and the brake energy of the vehicle is recovered according to the energy recovery strategy, so that the corresponding allowed recovery power threshold is determined in different real-time states of the battery, the energy recovery strategy corresponding to the current state of the battery is determined according to the recovery power threshold and the required recovery power when the vehicle brakes, and the brake energy of the vehicle is recovered according to the energy recovery strategy, so that the method can take account of the state of the battery when the energy recovery is carried out in the vehicle braking process, thereby avoiding damage to the battery from energy recovery.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating an energy recovery method provided by an embodiment of the present application;
FIG. 3 illustrates another schematic flow diagram of an energy recovery method provided by an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating an exemplary embodiment of an energy recovery device;
FIG. 5 is a block diagram of a vehicle according to an embodiment of the present disclosure;
fig. 6 illustrates a storage unit for storing or carrying program codes for implementing the energy recovery method according to the embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to clearly explain the scheme of the present application, some terms are explained below.
A battery: means for storing electrical energy and discharging electricity on demand;
an adjusting module: devices for adjusting the temperature of the battery, such as a cooling device for lowering the temperature of the battery, a heating device for raising the temperature of the battery, and the like;
a battery management system: a system for monitoring and managing battery status;
a braking system: systems for forcibly reducing the vehicle running speed, for example for decelerating or even stopping the running vehicle, for stabilizing the vehicle speed running downhill, for keeping the stopped vehicle still;
an energy recovery system: a system for converting kinetic energy during braking of a vehicle into electrical energy.
The following describes an application scenario provided in the embodiment of the present application.
Referring to fig. 1, a schematic diagram of an application scenario provided by an embodiment of the present application is shown, where the application scenario includes a vehicle 100, and the vehicle 100 may include a battery 110 and an adjustment module 120. The battery 110 may be a device for storing electric energy and discharging electricity according to a demand. For example, the battery 110 may be a lithium ion battery, a lithium polymer battery, a lead acid battery, a nickel cadmium battery, a nickel hydrogen battery, or the like. In addition, the battery 110 may be a single battery, or may be a battery pack composed of a plurality of single cells. The adjustment module 120 may be a device for adjusting the battery temperature of the battery 110. Specifically, when the battery temperature of the battery 110 does not fall within the preset temperature range, the adjusting module 120 may adjust the battery temperature of the battery 110 to be within the preset temperature range. For example, when the battery Temperature of the battery 110 is less than the lower limit of the preset Temperature range, the adjusting module 120 may be a Positive Temperature Coefficient (PTC) heater, which heats the battery to raise the battery Temperature to be within the preset Temperature range; when the battery temperature of the battery 110 is greater than the upper limit of the preset temperature range, the adjusting module 120 may be a refrigerator, and the refrigerator cools the battery to reduce the battery temperature to the preset temperature range, where the refrigerator may include a screw refrigerator, a piston refrigerator, a centrifugal refrigerator, or the like.
Referring to fig. 2, a flowchart of an energy recovery method according to an embodiment of the present application is shown, where the energy recovery method is used to determine corresponding allowable recovered power thresholds in different real-time states of a battery, determine an energy recovery strategy corresponding to a current state of the battery according to the recovered power threshold and a required recovered power when a vehicle is braked, and recover braking energy of the vehicle according to the energy recovery strategy, so that the above method can take account of the states of the battery when energy is recovered in a vehicle braking process, thereby avoiding damage to the battery due to energy recovery. In a specific embodiment, the energy recovery method is applied to the vehicle 100 shown in fig. 1, and the flow shown in fig. 2 will be described in detail by taking the vehicle 100 as an example, and the energy recovery method may include the following steps:
step S210: when the vehicle brakes, the recovered power threshold is determined according to the current state of the battery.
The current State of the battery may be understood as the current operating State of the battery, which may include a State of Charge (SOC) or/and a battery temperature. The recovered power threshold is used to characterize the maximum value of the recovered power allowed by the battery in the current state. In the embodiment of the application, before the vehicle recovers the braking energy, when the vehicle brakes, the allowable recovered power threshold of the vehicle can be determined, so that the energy recovery strategy can be determined according to the recovered power threshold, and the braking energy of the vehicle can be recovered according to the energy recovery strategy.
It can be understood that, when the vehicle is braking, the braking energy recovered by the vehicle is stored in the battery, and therefore, the recovered power threshold of the vehicle is positively correlated with the maximum value of the recovered power allowed by the battery in the current state, the greater the maximum value of the recovered power allowed by the battery in the current state is, the greater the recovered power threshold of the vehicle is, and the smaller the maximum value of the recovered power allowed by the battery in the current state is, the smaller the recovered power threshold of the vehicle is. The maximum value of the recovery power allowed by the battery in the current state is related to the state of charge or the temperature of the battery in the current state, and when the SOC of the battery is higher or the temperature of the battery is lower, the maximum value of the recovery power allowed by the battery is smaller; the maximum value of the recovery power allowed by the battery is larger as the SOC of the battery is lower and the battery temperature is higher. For example, when the SOC of the battery is 80%, the maximum allowable recovered power of the battery is 10 Kilowatts (KW); when the SOC of the battery is 90%, the allowable maximum recovery power of the battery is 5 KW; when the temperature of the battery is 0 ℃ (DEG C), the maximum allowable recovery power of the battery is 3 KW; when the temperature of the battery is 10 ℃, the maximum allowable recovery power of the battery is 6 KW; when the SOC of the battery is 50% and the temperature of the battery is 28 ℃, the allowable maximum recovery power of the battery is 50 KW; the SOC of the battery, the temperature of the battery, and the corresponding maximum allowable recovered power value are not limited herein.
In some embodiments, in order to determine a recovered power threshold of a vehicle, a vehicle may obtain battery state information of a battery, where the battery state information may include a state of charge or/and a battery temperature, and then, according to the obtained battery state information, look up a preset recovered power table, so as to obtain a maximum recovered power corresponding to the battery state information, that is, the recovered power threshold of the vehicle. The recovery power meter is used for representing the corresponding relation between the battery state information and the recovery power.
It should be understood that in obtaining battery state information of the battery, at least one of the state of charge and the battery temperature may be obtained according to the calculation amount requirement. Alternatively, when both the state of charge and the battery temperature are obtained, the basis for searching the recovered power threshold may be determined based on the importance degree of the battery state information at the current braking time. The importance degree of the battery state information at the current braking moment can also be obtained by comparing parameter values between the two battery state information. For example, for the two pieces of battery state information, corresponding safety ranges may be set, for example, the safety range of the state of charge is less than or equal to 70%, and the safety range of the battery temperature is 15-30 ℃, when determining the importance degree of the battery state information, the importance degree of the battery state information that does not fall into the safety range may be determined by judging whether the battery state information falls into the safety range, and the importance degree of the battery state information that does not fall into the safety range is determined to be higher, so as to be used as a basis for determining the search recovery power threshold. For example, when the battery temperature is 50 ℃ and the SOC is 70%, the corresponding recovered power threshold value may be looked up in the table based on the battery temperature being 50 ℃, so that the reliable recovered power threshold value may be determined by considering various states of the battery, and the safety of the battery during energy recovery is further ensured.
For example, the correspondence between the battery state information and the recovered power threshold may be as shown in table 1, that is, a preset recovered power table, and table 1 shows the maximum recovered power corresponding to different battery state information (SOC and battery temperature), and the vehicle may obtain the maximum recovered power corresponding to the battery state information, that is, the recovered power threshold of the vehicle, according to the correspondence table.
TABLE 1
Figure BDA0002718078930000071
The correspondence relationship between the battery state information and the recovered power threshold value of the vehicle is not limited to that shown in table 1.
In some embodiments, the recovered power threshold of the vehicle may include a sum of a maximum value of the recovered power allowed by the battery in the current state and power consumed by other loads, including an air conditioner, a sound, a vehicle lamp, a direct current converter (DCDC), and the like.
Step S220: and acquiring the required recovery torque of the vehicle braking according to the current braking information.
In the embodiment of the application, when the vehicle brakes, the required recovery torque of the vehicle brake can be obtained according to the current brake information, so that the required recovery power can be determined according to the required recovery torque. Wherein the vehicle braking information may include: current accelerator opening, current brake pedal opening and current vehicle speed.
In some embodiments, the vehicle may search a preset required torque table according to the acquired current braking information to obtain a required recovery torque, where the required recovery torque table is used to represent a corresponding relationship between the braking information and the torque.
For example, the correspondence relationship between the braking information and the torque may be as shown in table 2, and the torque corresponding to different braking information (the accelerator opening degree, the brake pedal opening degree, and the vehicle speed) is shown in table 2, and the vehicle may obtain the required recovery torque corresponding to the current braking information from the correspondence relationship table.
TABLE 2
Figure BDA0002718078930000081
In table 2, (20% -40%, 16-30 km/h) indicates that the opening of the brake pedal is 20% -40% and the vehicle speed is 16-30 km/h when the vehicle is currently braked, and if the opening of the accelerator is 31% -60%, the required recovery torque is 3000 n.m.; similarly, (50% -70%, 6-15 km/h) represents that the opening of the brake pedal is 50% -70% when the vehicle brakes currently, the vehicle speed is 6-15 km/h, and if the opening of the accelerator is 61% -80%, the required recovery torque is 1500 n.m.; the same applies to the other data in table 2, which are not described again; the corresponding relation between the current braking information and the required recovery torque can also be that the required recovery torque is 3500 N.m. when the opening degree of a brake pedal is 30-45%, the vehicle speed is 50-65 km/h and the opening degree of an accelerator is 35-50%; the corresponding relation between the current braking information and the required recovery torque can also be that when the opening of a brake pedal is 75-85%, the vehicle speed is 6-12 km/h and the opening of an accelerator is 8-15%, the required recovery torque is 900 N.m.; the correspondence relationship between the current braking information and the required recovery torque is not limited to that shown in table 2.
Step S230: and determining the required recovery power according to the required recovery torque.
In the embodiment of the application, after the vehicle acquires the required recovery torque for vehicle braking according to the current braking information, the required recovery power can be determined according to the required recovery torque, so that an energy recovery strategy is determined according to the required recovery power, and the energy recovery strategy is used for instructing the vehicle to perform a braking energy recovery method.
In some embodiments, the vehicle may calculate the required recovery power P according to the following formula, based on the required recovery torque, the motor speed of the vehicle, and the motor efficiency of the vehicle:
Figure BDA0002718078930000091
wherein the content of the first and second substances,
p is the required recovery power;
Tqrecovering torque for demand;
n is the motor speed of the vehicle;
η is the motor efficiency of the vehicle.
Step S240: and determining an energy recovery strategy according to the recovery power threshold and the required recovery power.
In the embodiment of the application, after the vehicle determines the required recovery power according to the required recovery torque, it may be determined whether the required recovery power is greater than a recovery power threshold, and an energy recovery strategy of the vehicle may be determined according to the determination result.
In some embodiments, when the vehicle determines that the required recovery power is greater than the recovery power threshold, indicating that the required recovery power of the vehicle is greater than the maximum allowable recovery power of the battery in the current state, to ensure the safety of the battery, a recovery current threshold may be determined according to the recovery power threshold, a target torque may then be determined according to the recovery current threshold and the required recovery torque, and an energy recovery strategy may be determined according to the target torque, wherein energy recovery is used for instructing the vehicle to recover energy at the target torque.
As one embodiment, the battery voltage U may be a constant value during vehicle braking when the vehicle determines that the required recovered power P is greater than the recovered power threshold P0In this case, a Vehicle Control Unit (VCU) of the Vehicle may be operated according to P0Through P0/U＝I0Calculating to obtain a recovery current threshold I0Then VCU will be at I0And demand recovery torque TqAt the same time, send the Integrated Power Unit (IPU) of the vehicle to guarantee the target recovery current I1<I0The IPU can then determine the I received0And TqBy adjusting the motor efficiency eta, the target recovery torque T is enabledq1Equal to or close to the required recovery torque Tq。
Further, the IPU may reclaim I at a control target1The current is approximately close to I0Time-lapse, control target recovered power P1Approximately close to the recovered power threshold P0WhereinThe IPU may calculate the target recovered power P according to the following equation1:
Figure BDA0002718078930000101
Wherein the rotating speed n is a fixed value, and the IPU can control the target recovery torque T by adjusting the motor efficiency etaq1And so that the target recovery torque T isq1Equal or infinitely close or substantially close to the demanded recovery torque Tq。
In other embodiments, when the vehicle determines that the required recovery power is less than or equal to the recovery power threshold, which indicates that the required recovery power of the vehicle is less than or equal to the maximum allowable recovery power of the battery in the current state, the energy recovery strategy may be determined according to the required recovery torque, so as to ensure that the actual recovery power of the vehicle during braking is less than or equal to the maximum allowable recovery power of the battery, thereby avoiding damage to the battery caused by energy recovery of the vehicle during braking.
Wherein the energy recovery strategy is used to instruct the vehicle to recover energy at the required recovery torque.
As an embodiment, when the vehicle determines that the required recovered power P is less than or equal to P at the time of braking of the vehicle0At the recovery power threshold, the VCU may recover the requested recovery torque TqIPU to send to vehicle, IPU will TqA target recovery torque for the vehicle is determined.
Step S250: and recovering the braking energy of the vehicle according to the energy recovery strategy.
In the embodiment of the application, after the vehicle determines the energy recovery strategy according to the recovered power threshold and the required recovered power, the braking energy of the vehicle can be recovered according to the energy recovery strategy. It can be understood that when the vehicle is braked, the braking energy recovery system recovers the excess energy released by the vehicle in braking or coasting, and converts the excess energy into electric energy through the generator, and then stores the electric energy in the battery for later acceleration driving, so as to increase the cruising ability of the vehicle. The battery can also use the electric energy to supply power for the electric consumption equipment in the vehicle, thereby reducing the dependence of the vehicle on the engine and reducing the fuel consumption and the emission of carbon dioxide.
According to the scheme provided by the application, when the vehicle brakes, the vehicle determines the recovery power threshold value according to the current state of the battery and acquires the required recovery torque of the vehicle braking according to the current braking information, then determining the required recovery power according to the required recovery torque, then determining an energy recovery strategy according to the recovery power threshold and the required recovery power, and then recovering the braking energy of the vehicle according to the energy recovery strategy, therefore, the corresponding allowable recovery power threshold value is determined under different real-time states of the battery, so that an energy recovery strategy corresponding to the current state of the battery is determined according to the recovery power threshold value and the required recovery power when the vehicle is braked, the braking energy of the vehicle is recovered according to the energy recovery strategy, therefore, the method can take the state of the battery into consideration when energy recovery is carried out in the braking process of the vehicle, so that the damage of the energy recovery to the battery is avoided.
Referring to fig. 3, which shows a flowchart of an energy recovery method provided by another embodiment of the present application, the energy recovery method is applied to a vehicle including a battery, and the energy recovery method may include the following steps:
step S310: when the vehicle brakes, the recovered power threshold is determined according to the current state of the battery.
Step S320: and acquiring the required recovery torque of the vehicle braking according to the current braking information.
Step S330: and determining the required recovery power according to the required recovery torque.
In the embodiment of the present application, step S310, step S320, and step S330 may refer to the contents of the foregoing embodiments, and are not described herein again.
Step S340: and when the required recovery power is larger than the recovery power threshold value, acquiring the temperature of the battery.
In the embodiment of the present application, after the vehicle determines the required recovered power, when the required recovered power is greater than the recovered power threshold, the battery temperature of the battery may be acquired so as to determine whether the battery temperature falls within a preset temperature range. It is to be understood that, when the acquired battery temperature is greater than the upper limit value of the preset temperature range and/or the battery temperature is less than the lower limit value of the preset temperature range, it may be determined that the battery temperature does not fall within the preset temperature range; when the battery temperature is less than or equal to the upper limit value of the preset temperature range and greater than or equal to the lower limit value of the preset temperature range, it may be determined that the battery temperature falls within the preset temperature range.
For example, the preset temperature range is 10 ℃ to 25 ℃, and when the acquired battery temperature is 26 ℃, it is determined that the battery temperature does not fall within the preset temperature range; when the obtained battery temperature is 9 ℃, determining that the battery temperature does not fall within a preset temperature range; when the acquired battery temperature is 20 ℃, determining that the battery temperature falls within a preset temperature range; the preset temperature range and the acquired battery temperature are not limited herein.
In some embodiments, the vehicle may detect the temperature of the surface of the battery by a temperature sensor device to obtain the battery temperature. The temperature sensor may include a contact temperature sensor, a non-contact temperature sensor, and the like.
Step S350: and when the battery temperature does not fall into the preset temperature range, determining the adjustment power according to the battery temperature.
In the embodiment of the application, when the vehicle determines that the battery temperature does not fall within the preset temperature range, the battery temperature is greater than the upper limit value of the preset temperature range, or the battery temperature is less than the lower limit value of the preset temperature range, and the vehicle may determine the adjustment power according to the battery temperature, where the adjustment power is used for representing the power consumed by the adjustment module when the adjustment module adjusts the battery temperature to be within the preset temperature range.
In some embodiments, when the battery temperature is greater than the upper limit value of the preset temperature range, it indicates that the battery temperature is higher than the preset temperature range, that is, the battery is in a high-temperature state, the vehicle may turn on a refrigeration compressor, and the refrigeration compressor may perform cooling processing on the battery according to the battery temperature, so that the battery temperature is decreased to be within the preset temperature range, and the vehicle may determine that power consumed by the refrigeration compressor when performing cooling processing on the battery is adjustment power.
In other embodiments, when the battery temperature is lower than the lower limit value of the preset temperature range, it indicates that the battery temperature is lower than the preset temperature range, that is, the battery is in a low-temperature state, the vehicle may turn on the PTC heater, the PTC heater may perform a temperature raising process on the battery according to the battery temperature, so that the battery temperature rises to be within the preset temperature range, and the vehicle may determine that the power consumed by the PTC heater during the temperature raising process on the battery is the adjustment power.
Step S360: and when the required recovery power is greater than the sum of the recovery power threshold and the adjusted power, determining a recovery current threshold according to the recovery power threshold and the adjusted power.
In the embodiment of the application, after determining the recovered power threshold and adjusting the power, the vehicle may determine whether the required recovered power is greater than the sum of the recovered power threshold and the adjusted power, and when determining that the required recovered power is greater than the sum of the recovered power threshold and the adjusted power, the vehicle may determine the recovered current threshold according to the recovered power threshold and the adjusted power, so as to control the vehicle to provide the recovered part of the energy to the adjusting module during the recovery of the braking energy, so as to reduce the damage of the braking recovered energy to the battery.
In some embodiments, when the vehicle determines that the required recovered power is greater than the sum of the recovered power threshold and the adjusted power, indicating that the required recovered power of the vehicle is greater than the sum of the maximum value of the recovered power allowed by the battery in the current state and the adjusted power, the recovered current threshold may be determined according to the sum of the recovered power threshold and the adjusted power.
As one embodiment, the battery voltage U may be a constant value during vehicle braking when the vehicle determines that the required recovered power P is greater than the recovered power threshold P0And adjusting the power P2When summed, the VCU of the vehicle may be according to P0+P2Through (P)0+P2)/U＝I2Calculating to obtain a recovery current threshold I2。
Step S370: and determining the target torque according to the recovery current threshold and the required recovery torque.
Step S380: an energy recovery strategy is determined based on the target torque.
Step S390: and recovering the braking energy of the vehicle according to the energy recovery strategy.
In the embodiment of the present application, reference may be made to the contents of the foregoing embodiment without performing step S370, step S380, and step S390, which are not described herein again.
In some embodiments, when the vehicle determines that the required recovered power is less than or equal to the sum of the recovered power threshold and the adjusted power, indicating that the required recovered power of the vehicle is less than or equal to the sum of the adjusted power and the maximum value of the recovered power allowed by the battery in the current state, an energy recovery strategy may be determined according to the required recovered torque, the energy recovery strategy being used to instruct the vehicle to recover energy at the required recovered torque.
According to the scheme provided by the application, when the vehicle brakes, the vehicle determines the recovery power threshold value according to the current state of the battery and acquires the required recovery torque of the vehicle braking according to the current braking information, then determining the required recovery power according to the required recovery torque, then determining an energy recovery strategy according to the recovery power threshold and the required recovery power, and then recovering the braking energy of the vehicle according to the energy recovery strategy, therefore, the corresponding allowable recovery power threshold value is determined under different real-time states of the battery, so that an energy recovery strategy corresponding to the current state of the battery is determined according to the recovery power threshold value and the required recovery power when the vehicle is braked, the braking energy of the vehicle is recovered according to the energy recovery strategy, therefore, the method can take the state of the battery into consideration when energy recovery is carried out in the braking process of the vehicle, so that the damage of the energy recovery to the battery is avoided.
For example, when the required recovery power of the vehicle in the braking process is greater than the maximum value of the recovery power allowed by the battery in the current state, by the method provided by the application, the energy recovery strategy can be determined according to the recovery power threshold and the required recovery torque, and the braking energy of the vehicle can be recovered according to the energy recovery strategy, so that the damage to the battery caused by energy recovery with the required recovery torque when the required recovery power is greater than the maximum value of the recovery power allowed by the battery in the current state is avoided.
Further, when the battery temperature does not fall within the preset temperature range, the vehicle determines the adjustment power according to the battery temperature, and then determines the energy recovery strategy according to the sum of the recovery power threshold and the adjustment power, so that the recovery of the braking energy of the vehicle is increased, and the braking energy recovery efficiency of the vehicle is improved.
Referring to fig. 4, which shows a schematic structural diagram of an energy recovery device according to an embodiment of the present application, in the embodiment of the present application, where the energy recovery device 400 is applied to a vehicle including a battery, the energy recovery device 400 may include a first determining module 410, a torque obtaining module 420, a second determining module 430, a third determining module 440, and a recovering module 450.
The first determination module 410 is configured to determine a recovered power threshold according to a current state of the battery when the vehicle brakes, where the recovered power threshold is used to represent a maximum value of the recovered power allowed by the battery in the current state; the torque acquisition module 420 is used for acquiring the required recovery torque of vehicle braking according to the current braking information; the second determination module 430 is used for determining the required recovery power according to the required recovery torque; the third determining module 440 is configured to determine an energy recovery strategy according to the recovered power threshold and the required recovered power; the recovery module 450 is used to recover braking energy of the vehicle according to an energy recovery strategy.
In some embodiments, the third determination module 440 may include a first determination unit, a second determination unit, and a third determination unit. The first determining unit is used for determining a recovery current threshold according to the recovery power threshold when the required recovery power is greater than the recovery power threshold; the second determining unit determines a target torque according to the recovery current threshold and the required recovery torque; the third determination unit is used for determining an energy recovery strategy according to the target torque, and the energy recovery strategy is used for instructing the vehicle to recover energy at the target torque.
In some embodiments, the vehicle may further include an adjustment module for adjusting a battery temperature of the battery; the energy recovery device 400 may further include a temperature acquisition module and a fourth determination module. The temperature acquisition module is used for acquiring the temperature of the battery before the step of determining the recovery current threshold value by the first determination unit according to the recovery power threshold value when the required recovery power is greater than the recovery power threshold value; the fourth determining module is used for determining the adjusting power according to the battery temperature when the battery temperature does not fall into the preset temperature range, and the adjusting power is used for representing the power consumed by the adjusting module when the battery temperature is adjusted to be within the preset temperature range.
In this embodiment, the first determining unit may comprise a current determining subunit for determining the recovered current threshold value in dependence on the recovered power threshold value and the adjusted power.
In this embodiment, the third determination module 440 may further include a fourth determination unit for determining an energy recovery strategy for instructing the vehicle to recover energy at the required recovery torque according to the required recovery torque when the required recovery power is less than or equal to the sum of the recovery power threshold and the adjustment power.
In some embodiments, the third determination module 440 may further include a fifth determination unit for determining an energy recovery strategy for instructing the vehicle to recover energy at the required recovery torque according to the required recovery torque when the required recovery power is less than or equal to the recovery power threshold.
In some embodiments, the braking information includes: the torque obtaining module 420 may include a first obtaining unit, where the first obtaining unit is configured to search a preset required torque table according to the obtained current braking information, and obtain a required recovery torque, and the required torque table is configured to represent a corresponding relationship between the braking information and the torque.
In some embodiments, the first determining module 410 may include an obtaining unit and a second obtaining unit. The acquisition unit is used for acquiring battery state information of the battery, and the battery state information comprises: state of charge and battery temperature. The second obtaining unit is used for searching a preset recovery power table according to the obtained battery state information to obtain a recovery power threshold, and the recovery power table is used for representing the corresponding relation between the battery state information and the recovery power.
In some embodiments, the second determination module 430 may include a calculation unit for calculating the required recovered power P according to the following formula, based on the required recovered torque, the motor speed of the vehicle, and the motor efficiency of the vehicle:
Figure BDA0002718078930000171
wherein the content of the first and second substances,
p is the required recovery power;
Tqrecovering torque for demand;
n is the motor speed of the vehicle;
η is the motor efficiency of the vehicle.
According to the scheme provided by the application, when the vehicle brakes, the vehicle determines the recovery power threshold value according to the current state of the battery and acquires the required recovery torque of the vehicle braking according to the current braking information, then determining the required recovery power according to the required recovery torque, then determining an energy recovery strategy according to the recovery power threshold and the required recovery power, and then recovering the braking energy of the vehicle according to the energy recovery strategy, therefore, the corresponding allowable recovery power threshold value is determined under different real-time states of the battery, so that an energy recovery strategy corresponding to the current state of the battery is determined according to the recovery power threshold value and the required recovery power when the vehicle is braked, the braking energy of the vehicle is recovered according to the energy recovery strategy, therefore, the method can take the state of the battery into consideration when energy recovery is carried out in the braking process of the vehicle, so that the damage of the energy recovery to the battery is avoided.
Referring to fig. 5, a functional block diagram of a vehicle 500 provided by an embodiment of the present application is shown, where the vehicle 500 includes a battery 510; the vehicle 500 also includes a processor 520, a communication module 530, a memory 540, and a bus. The processor 520, the communication module 530 and the memory 540 are connected to each other through a bus and perform communication with each other. The bus may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. Wherein:
and a memory 540 for storing programs. In particular, the memory 540 may be used to store software programs as well as various data. The memory 540 may mainly include a program storage area and a data storage area, wherein the program storage area may store an application program required to operate at least one function and may include program codes including computer operation instructions. In addition to storing programs, the memory 540 may temporarily store messages or the like that the communication module 530 needs to send.
The processor 520 is configured to execute programs stored in the memory 540. The program when executed by a processor implements the steps of the energy recovery method of the various embodiments described above. Alternatively, the processor 520 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 520 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 520, but may be implemented solely by a communication chip.
The Memory 540 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 540 may be used to store instructions, programs, code sets, or instruction sets. The memory 540 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as vehicle braking instructions, determining a recovered power threshold, obtaining a requested recovered torque, determining a recovered requested power, determining an energy recovery strategy, recovering braking energy, determining a recovered current threshold, determining a target torque, obtaining a battery temperature, determining an adjusted power, looking up a requested torque table, looking up a recovered power table, and calculating a requested recovered power, etc.), instructions for implementing various method embodiments described below, and the like. The stored data area may also store data created by the vehicle 500 during braking energy recovery (e.g., recovered power thresholds, front braking information, required recovered torque, required recovered power, energy recovery strategy, braking energy, target torque, battery temperature, regulated power, required torque schedule, battery status information), etc.
Referring to fig. 6, which illustrates a computer-readable storage medium 600 provided by an embodiment of the present application, a program code is stored in the computer-readable storage medium 600, and the program code can be invoked by a processor to execute the method described in the foregoing method embodiment.
The computer-readable storage medium 600 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 600 includes a non-volatile computer-readable storage medium. The computer readable storage medium 600 has storage space for program code 610 for performing any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 610 may be compressed, for example, in a suitable form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (11)

1. An energy recovery method, applied to a vehicle including a battery, the method comprising:
when the vehicle is braked, determining a recovery power threshold value according to the current state of the battery, wherein the recovery power threshold value is used for representing the maximum value of the recovery power allowed by the battery in the current state;
acquiring the required recovery torque of the vehicle braking according to the current braking information;
determining the required recovery power according to the required recovery torque;
determining an energy recovery strategy according to the recovery power threshold and the required recovery power; and
and recovering the braking energy of the vehicle according to the energy recovery strategy.
2. The energy recovery method of claim 1, wherein the step of determining an energy recovery strategy based on the recovered power threshold and the demanded recovered power comprises:
when the required recovery power is larger than the recovery power threshold, determining a recovery current threshold according to the recovery power threshold;
determining a target torque according to the recovery current threshold and the required recovery torque; and
determining an energy recovery strategy according to the target torque, wherein the energy recovery strategy is used for instructing the vehicle to recover energy at the target torque.
3. The energy recovery method of claim 2, wherein the vehicle further comprises an adjustment module for adjusting a battery temperature of the battery; when the demanded recovered power is greater than the recovered power threshold, before the step of determining a recovered current threshold according to the recovered power threshold, the method further includes:
acquiring the temperature of the battery;
when the battery temperature does not fall into a preset temperature range, determining adjustment power according to the battery temperature, wherein the adjustment power is used for representing power consumed by the adjustment module when the battery temperature is adjusted to be within the preset temperature range;
the step of determining the threshold value of the recovery current according to the threshold value of the recovery power comprises the following steps: and determining the recovery current threshold according to the recovery power threshold and the adjusting power.
4. The energy recovery method of claim 3, wherein the step of determining an energy recovery strategy based on the recovered power threshold and the demanded recovered power comprises:
when the required recovery power is smaller than or equal to the sum of the recovery power threshold and the adjustment power, determining an energy recovery strategy according to the required recovery torque, wherein the energy recovery strategy is used for indicating the vehicle to recover energy at the required recovery torque.
5. The energy recovery method of claim 1, wherein the step of determining an energy recovery strategy based on the recovered power threshold and the demanded recovered power comprises:
when the required recovery power is smaller than or equal to the recovery power threshold, determining an energy recovery strategy according to the required recovery torque, wherein the energy recovery strategy is used for indicating the vehicle to recover energy at the required recovery torque.
6. The energy recovery method of claim 1, wherein the braking information comprises: the method comprises the following steps of obtaining the required recovery torque of vehicle braking according to current braking information, wherein the steps comprise the following steps:
and searching a preset required torque table according to the acquired current braking information to acquire the required recovery torque, wherein the required torque table is used for representing the corresponding relation between the braking information and the torque.
7. The energy recovery method of claim 1, wherein the step of determining a recovered power threshold based on the current state of the battery while the vehicle is braking comprises:
acquiring battery state information of the battery, wherein the battery state information comprises: state of charge or/and battery temperature;
and searching a preset recovery power table according to the acquired battery state information to acquire the recovery power threshold, wherein the recovery power table is used for representing the corresponding relation between the battery state information and the recovery power.
8. The energy recovery method according to any one of claims 1 to 7, wherein the step of determining a required recovery power from the required recovery torque comprises:
calculating the required recovery power P according to the required recovery torque, the motor speed of the vehicle and the motor efficiency of the vehicle according to the following formula:
Figure FDA0002718078920000031
wherein the content of the first and second substances,
p is the required recovered power;
Tqrecovering torque for the demand;
n is the motor speed of the vehicle;
η is the motor efficiency of the vehicle.
9. An energy recovery device, characterized by being applied to a vehicle including a battery, the device comprising:
the first determination module is used for determining a recovery power threshold according to the current state of the battery when the vehicle brakes, and the recovery power threshold is used for representing the maximum value of the recovery power allowed by the battery in the current state;
the torque acquisition module is used for acquiring the required recovery torque of the vehicle braking according to the current braking information;
the second determination module is used for determining the required recovery power according to the required recovery torque;
a third determining module, configured to determine an energy recovery strategy according to the recovered power threshold and the required recovered power; and
and the recovery module is used for recovering the braking energy of the vehicle according to the energy recovery strategy.
10. A vehicle, comprising a battery, and further comprising:
a memory;
one or more processors coupled with the memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-8.
11. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 8.
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