CN112319232A - Electric vehicle, control method and device thereof, storage medium and vehicle control unit - Google Patents
Electric vehicle, control method and device thereof, storage medium and vehicle control unit Download PDFInfo
- Publication number
- CN112319232A CN112319232A CN202010998240.0A CN202010998240A CN112319232A CN 112319232 A CN112319232 A CN 112319232A CN 202010998240 A CN202010998240 A CN 202010998240A CN 112319232 A CN112319232 A CN 112319232A
- Authority
- CN
- China
- Prior art keywords
- electric
- braking
- driving motor
- power battery
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
Abstract
The invention discloses an electric automobile and an energy recovery control method and device thereof, a storage medium and a vehicle control unit, wherein the electric automobile comprises a braking deflector rod, and the control method comprises the following steps: acquiring speed information, power battery information and driving motor information of the electric automobile; judging whether the electric automobile is allowed to recover the electric braking energy of the driving lever according to the acquired information; if the braking is allowed, acquiring braking required torque according to the braking stroke and the vehicle speed information of the braking shift lever, acquiring power battery limited torque according to the power battery information, and acquiring driving motor limited torque according to the driving motor information; and obtaining electric braking torque according to the braking demand torque, the power battery limiting torque and the driving motor limiting torque, and controlling a driving motor of the electric automobile to generate electricity according to the electric braking torque. Therefore, the energy recovery control method of the electric automobile can improve the cruising ability of the electric automobile, ensure the driving safety of the electric automobile and improve the energy recovery efficiency.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an energy recovery control method of an electric automobile, a computer-readable storage medium, a vehicle control unit, an energy recovery control device of the electric automobile and the electric automobile.
Background
For new energy vehicles, especially pure electric vehicles, the problem of endurance is always a problem to be solved urgently. Because the power battery technology is not mature, the electricity saving is a control trend for prolonging the endurance. In the related art, a common control strategy is energy recovery control. The energy recovery system is mainly divided into a series energy recovery system and a parallel energy recovery system, wherein the series energy recovery system means that hydraulic braking and electric braking can be coordinated and controlled through an electronic control module, and power braking and hydraulic braking output are flexibly distributed according to requirements; parallel energy recovery means that hydraulic braking and electric braking are not decoupled, and no control module can distribute hydraulic braking and electric braking according to the braking requirement of a driver. However, although the recovery rate of the recovered energy of the series braking energy is high, the system is complex and the cost is high; the parallel recovery system is simple in structure, but the recovery efficiency is low, the brake strength can affect the brake feeling of a driver, and the user experience is reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide an energy recovery control method for an electric vehicle, which can improve the cruising ability of the electric vehicle, ensure the driving safety of the electric vehicle, and improve the energy recovery efficiency.
A second object of the invention is to propose a computer-readable storage medium.
The third purpose of the invention is to provide a vehicle control unit.
A fourth object of the present invention is to provide an energy recovery control device for an electric vehicle.
A fifth object of the present invention is to provide an electric vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an energy recovery control method for an electric vehicle, where the electric vehicle includes a brake lever, and the energy recovery control method includes the following steps: acquiring the speed information of the electric automobile, acquiring the power battery information of the electric automobile and acquiring the driving motor information of the electric automobile; judging whether the electric automobile is allowed to recover the electric braking energy of the driving lever according to the vehicle speed information, the power battery information and the driving motor information; if the electric automobile is allowed to recover the electric braking energy of the driving lever, acquiring braking required torque according to the braking stroke of the braking driving lever and the speed information of the electric automobile, acquiring power battery limiting torque according to the power battery information, and acquiring driving motor limiting torque according to the driving motor information; and obtaining electric braking torque according to the braking demand torque, the power battery limiting torque and the driving motor limiting torque, and controlling a driving motor of the electric automobile to generate electricity according to the electric braking torque.
The method comprises the steps of firstly obtaining speed information, power battery information and driving motor information of the electric automobile, then judging whether the electric automobile is allowed to recover driving lever electric braking energy according to the obtained information, if so, obtaining braking required torque according to the braking stroke of a braking driving lever and the speed information of the electric automobile, then obtaining power battery limiting torque according to the power battery information, obtaining driving motor limiting torque according to the driving motor information, then obtaining electric braking torque according to the braking required torque, the power battery limiting torque and the driving motor limiting torque, and finally controlling the driving motor of the electric automobile to generate electricity according to the electric braking torque. Therefore, the energy recovery control method of the electric automobile can improve the cruising ability of the electric automobile, ensure the driving safety of the electric automobile and improve the energy recovery efficiency.
In some examples of the present invention, determining whether to allow the electric vehicle to perform lever driving electric braking energy recovery according to the vehicle speed information, the power battery information and the driving motor information includes: judging whether the speed of the electric automobile is smaller than a preset speed threshold value or not according to the speed information, judging whether a System On Chip (SOC) of a power battery is smaller than a preset value or not and judging whether the power battery has output-forbidden faults or not according to the power battery information, and judging whether the drive motor has output-forbidden faults or not according to the drive motor information; and if the speed of the electric automobile is less than a preset speed threshold value, the SOC of the power battery is less than a preset value, no output prohibition fault exists in the power battery, and no output prohibition fault exists in the driving motor, the electric automobile is allowed to recover the electric braking energy of the shifting lever.
In some examples of the present invention, the brake demand torque has a positive correlation with both the vehicle speed of the electric vehicle and the brake stroke of the brake lever.
In some examples of the present invention, obtaining the electric brake torque according to the brake demand torque, the power battery limit torque, and the drive motor limit torque includes: and taking the minimum value of the braking demand torque, the power battery limiting torque and the driving motor limiting torque as the electric braking torque.
In some examples of the present invention, when the driving motor of the electric vehicle is controlled to generate power according to the electric brake torque, the electric brake torque generated by the driving motor is limited if a brake pedal of the electric vehicle is triggered.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which an energy recovery control program of an electric vehicle is stored, the energy recovery control program, when executed by a processor, implementing the energy recovery control method of the electric vehicle according to the above embodiments.
The computer-readable storage medium according to the embodiment of the present invention may implement the energy recovery control method for an electric vehicle in the above-described embodiment by executing the energy recovery control program for an electric vehicle stored thereon, so as to improve the cruising ability of an electric vehicle, ensure the driving safety of the electric vehicle, and improve the energy recovery efficiency.
In order to achieve the above object, a vehicle control unit according to a third aspect of the present invention includes a memory, a processor, and an energy recovery control program stored in the memory and executable on the processor, where the processor executes the energy recovery control program to implement the energy recovery control method of the electric vehicle according to the above embodiment.
According to the vehicle control unit provided by the embodiment of the invention, the processor can execute the energy recovery control program of the electric vehicle stored on the memory, so that the energy recovery control method of the electric vehicle in the embodiment is realized, the cruising ability of the electric vehicle can be improved, the driving safety of the electric vehicle is ensured, and the energy recovery efficiency is improved.
In order to achieve the above object, a fourth aspect of the present invention provides an energy recovery control device for an electric vehicle, the electric vehicle including a brake lever, the energy recovery control device including: the first acquisition module is used for acquiring the speed information of the electric automobile; the second acquisition module is used for acquiring power battery information of the electric automobile; the third acquisition module is used for acquiring the driving motor information of the electric automobile; the judging module is used for judging whether the electric automobile is allowed to recover the electric braking energy of the shifting lever according to the vehicle speed information, the power battery information and the driving motor information; the energy recovery control module is used for acquiring braking demand torque according to the braking travel of the braking deflector rod and the speed information of the electric automobile when the electric automobile is allowed to recover electric braking energy of the deflector rod, acquiring power battery limiting torque according to the power battery information, acquiring driving motor limiting torque according to the driving motor information, acquiring electric braking torque according to the braking demand torque, the power battery limiting torque and the driving motor limiting torque, and controlling the driving motor of the electric automobile to generate electricity according to the electric braking torque.
The energy recovery control device comprises a first acquisition module, a second acquisition module, a third acquisition module, a judgment module and an energy recovery control module, wherein the first acquisition module is used for acquiring the speed information of an electric vehicle, the second acquisition module is used for acquiring the power battery information of the electric vehicle, the third acquisition module is used for acquiring the driving motor information of the electric vehicle, when the judgment module judges the speed information, the power battery information and the motor information and obtains the judgment result of allowing the electric vehicle to recover the driving lever electric braking energy, the energy recovery control module acquires the braking required torque according to the braking stroke of a braking driving lever and the speed information of the electric vehicle, acquires the limiting torque of the power battery according to the power battery information, acquires the limiting torque of the driving motor according to the driving motor information, and then acquires the limiting torque of the driving motor according to the braking required torque, And finally, controlling a driving motor of the electric automobile to generate power according to the electric braking torque. Therefore, the energy recovery control device of the electric automobile can improve the cruising ability of the electric automobile, ensure the driving safety of the electric automobile and improve the energy recovery efficiency.
In some examples of the invention, the determining module is further configured to determine whether a vehicle speed of the electric vehicle is less than a preset vehicle speed threshold according to the vehicle speed information, determine whether a power battery SOC is less than a preset value according to the power battery information, determine whether an output prohibition fault exists in the power battery, and determine whether an output prohibition fault exists in the driving motor according to the driving motor information; and if the speed of the electric automobile is less than a preset speed threshold value, the SOC of the power battery is less than a preset value, no output prohibition fault exists in the power battery, and no output prohibition fault exists in the driving motor, the electric automobile is allowed to recover the electric braking energy of the shifting lever.
In order to achieve the above object, a fifth embodiment of the present invention provides an electric vehicle, which includes the vehicle control unit according to the above embodiment or the energy recovery control device according to the above embodiment.
According to the electric automobile provided by the embodiment of the invention, through the vehicle control unit or the energy recovery control device of the electric automobile in the embodiment, the cruising ability of the electric automobile can be improved, the driving safety of the electric automobile is ensured, and meanwhile, the energy recovery efficiency is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of an energy recovery control method of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an energy recovery control method for an electric vehicle according to an embodiment of the invention;
fig. 3 is a block diagram showing the structure of an energy recovery control device for an electric vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of an electric vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An electric vehicle, an energy recovery control method and apparatus thereof, a storage medium, and a vehicle control unit according to an embodiment of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an energy recovery control method for an electric vehicle according to an embodiment of the present invention.
It should be noted that the electric vehicle includes the brake shift lever, and optionally, the brake shift lever may be disposed behind the steering wheel, so as to ensure that the brake shift lever is easily controlled by fingers to brake the entire vehicle without leaving the steering wheel when a driver drives the vehicle, thereby ensuring that the driver can drive the vehicle more safely. It can be understood that the brake driving lever can also be arranged at other positions which are beneficial to the operation of a driver, the tail end of the brake driving lever is connected with a sensor, the sensor can send the collected signals to a whole vehicle control system of the electric vehicle, and the whole vehicle control system can control the electric vehicle according to the signals.
In this embodiment, as shown in fig. 1, the energy recovery control method of the electric vehicle includes the steps of:
and S10, acquiring the speed information of the electric automobile, acquiring the power battery information of the electric automobile, and acquiring the driving motor information of the electric automobile.
It should be noted that the brake lever provided in this embodiment can directly brake the electric vehicle at a low speed, but when the driver has an emergency braking demand, the vehicle can still be braked by the conventional pedal. Specifically, when judging whether the vehicle can be braked by the lever electric brake to recover energy, state information of the electric vehicle needs to be acquired, wherein the state information includes vehicle speed information of the electric vehicle, power battery information of the electric vehicle and driving motor information of the electric vehicle.
And S20, judging whether the electric automobile is allowed to recover the electric braking energy of the shifting lever according to the vehicle speed information, the power battery information and the driving motor information.
Specifically, after the vehicle speed information, the power battery information and the driving motor information are acquired, the state of the electric vehicle can be judged from the acquired information, so that whether the electric vehicle is allowed to carry out the deflector rod electric braking energy recovery or not can be judged.
In some examples of the invention, it may be determined whether the vehicle speed of the electric vehicle is less than a preset vehicle speed threshold according to the vehicle speed information, and whether the SOC of the power battery is less than a preset value and whether the output prohibition fault exists in the power battery according to the power battery information, and whether the output prohibition fault exists in the drive motor according to the drive motor information; and if the speed of the electric automobile is less than a preset speed threshold value, the SOC of the power battery is less than a preset value, the output prohibition fault does not exist in the power battery, and the output prohibition fault does not exist in the driving motor, the electric automobile is allowed to recover the electric braking energy of the shifting lever.
Specifically, in order to ensure that the electric vehicle can normally complete the driving lever electric braking energy recovery operation, before the electric vehicle recovers the driving lever electric braking energy, it is necessary to determine the vehicle speed information, the power battery information and the driving motor information of the electric vehicle. It can be understood that the driver needs to control the brake shift lever only when the vehicle speed, the power battery and the driving motor of the electric vehicle all meet the conditions, and optionally, if the conditions are not met, the electric vehicle is not allowed to recover the electric braking energy of the shift lever.
Optionally, the preset vehicle speed threshold is 60km/h, and the preset value of the power battery SOC is 98% of the battery capacity.
And S30, if the electric automobile is allowed to recover the deflector rod electric braking energy, acquiring braking required torque according to the braking stroke of the braking deflector rod and the speed information of the electric automobile, acquiring power battery limiting torque according to the power battery information, and acquiring driving motor limiting torque according to the driving motor information.
Specifically, when the electric automobile is judged to be allowed to recover the shifting lever electric braking energy, the braking demand torque is further acquired according to the braking stroke of the braking shifting lever and the speed information of the electric automobile. It should be noted that the braking travel and the vehicle speed information of the braking shift lever can be analyzed by the vehicle control system, so as to obtain the braking demand torque of the driver. In some examples, the brake demand torque is positively correlated with both the vehicle speed of the electric vehicle and the brake stroke of the brake lever. Specifically, the braking demand torque increases with the increase of the braking stroke of the brake lever, and decreases with the decrease; the brake demand torque increases with increasing vehicle speed and decreases with decreasing vehicle speed. After the braking required torque is obtained, the power battery limiting torque is obtained according to the power battery information, the driving motor limiting torque is obtained according to the driving motor information, so that the torque acting on the driving motor cannot exceed the driving motor limiting torque and the power battery limiting torque, and the driving motor and the power battery are protected.
And S40, acquiring electric braking torque according to the braking demand torque, the power battery limiting torque and the driving motor limiting torque, and controlling the driving motor of the electric automobile to generate electricity according to the electric braking torque.
Specifically, as shown in fig. 2, after the braking demand torque, the power battery limit torque and the driving motor limit torque are acquired through the above steps, the three torques may be determined, so as to screen out the electric braking torque, and the driving motor of the electric vehicle may be controlled to generate power according to the electric braking torque.
In this embodiment, the minimum value of the braking demand torque, the power battery limit torque and the drive motor limit torque may be processed, and the minimum value may be used as the electric braking torque to act on the drive motor of the electric vehicle to generate electricity.
In some examples of the present invention, when a driving motor of an electric vehicle is controlled to generate power according to an electric brake torque, the electric brake torque generated by the driving motor is limited if a brake pedal of the electric vehicle is triggered.
Specifically, when the driving motor of the electric vehicle is controlled to generate electricity with the electric brake torque, if the brake pedal of the electric vehicle is triggered, the electric brake torque for generating electricity to the driving motor is reduced, thereby reducing the energy recovery intensity of the electric brake, and the electric vehicle is braked jointly by the brake pedal and the driving motor in a mode of being driven with the reduced electric brake torque.
In summary, the energy recovery control method for the electric vehicle in the embodiment of the invention can improve the cruising ability of the electric vehicle, ensure the driving safety of the electric vehicle, and improve the energy recovery efficiency.
Further, the present invention proposes a computer-readable storage medium having stored thereon an energy recovery control program of an electric vehicle, which when executed by a processor implements the energy recovery control method of the electric vehicle in the above-described embodiments.
The computer-readable storage medium of the embodiment of the invention, when the processor executes the energy recovery control program of the electric vehicle corresponding to the energy recovery control method of the electric vehicle, can improve the cruising ability of the electric vehicle, ensure the driving safety of the electric vehicle, and improve the energy recovery efficiency.
Further, the present invention provides a vehicle control unit, which includes a memory, a processor, and an energy recovery control program of an electric vehicle stored in the memory and running on the processor, wherein when the processor executes the energy recovery control program, the energy recovery control method of the electric vehicle in the above embodiments is implemented.
The vehicle control unit comprises a memory, a processor and an energy recovery control program of the electric vehicle stored on the memory, and when the energy recovery control program of the electric vehicle is executed, the cruising ability of the electric vehicle can be improved, the driving safety of the electric vehicle is ensured, and the energy recovery efficiency is improved.
Fig. 3 is a block diagram showing the structure of an energy recovery control device for an electric vehicle according to an embodiment of the present invention.
As shown in fig. 3, the energy recovery control device 100 of the electric vehicle includes a first obtaining module 101, a second obtaining module 102, a third obtaining module 103, a judging module 104, and an energy recovery control module 105.
The electric automobile comprises a brake driving lever, and the first acquisition module 101 is used for acquiring the speed information of the electric automobile; the second obtaining module 102 is configured to obtain power battery information of the electric vehicle; the third obtaining module 103 is configured to obtain driving motor information of the electric vehicle; the judging module 104 is used for judging whether the electric automobile is allowed to recover the electric braking energy of the driving lever according to the vehicle speed information, the power battery information and the driving motor information; the energy recovery control module 105 is configured to, when the electric vehicle is allowed to perform deflector rod electric braking energy recovery, obtain a braking demand torque according to a braking stroke of the braking deflector rod and vehicle speed information of the electric vehicle, obtain a power battery limiting torque according to the power battery information, obtain a driving motor limiting torque according to the driving motor information, obtain an electric braking torque according to the braking demand torque, the power battery limiting torque and the driving motor limiting torque, and control a driving motor of the electric vehicle to generate power according to the electric braking torque.
It should be noted that the electric vehicle includes the brake shift lever, and optionally, the brake shift lever may be disposed behind the steering wheel, so as to ensure that the brake shift lever is easily controlled by fingers to brake the entire vehicle without leaving the steering wheel when a driver drives the vehicle, thereby ensuring that the driver can drive the vehicle more safely. It can be understood that the brake driving lever can also be arranged at other positions which are beneficial to the operation of a driver, the tail end of the brake driving lever is connected with a sensor, the sensor can send the collected signal to a whole vehicle control system of the electric vehicle, and the whole vehicle control system can control the electric vehicle according to the signal.
It should be noted that the brake lever provided in this embodiment can directly brake the electric vehicle at a low speed, but when the driver has an emergency braking demand, the vehicle can still be braked by the conventional pedal. Specifically, when determining whether the vehicle can be braked by the lever electric brake to recover energy, the state information of the electric vehicle needs to be acquired, in this embodiment, the first acquisition module 101 is arranged to acquire the speed information of the electric vehicle, the second acquisition module 102 is arranged to acquire the power battery information of the electric vehicle, and the third acquisition module 103 is arranged to acquire the driving motor information of the electric vehicle.
Specifically, after the vehicle speed information, the power battery information and the driving motor information are acquired, the state of the electric vehicle can be determined from the acquired information through the determining module 104, so as to determine whether to allow the electric vehicle to perform the lever-shift electric braking energy recovery. Optionally, the preset vehicle speed threshold is 60km/h, and the preset value of the power battery SOC is 98% of the battery capacity.
Specifically, when the determining module 104 determines that the electric vehicle is allowed to perform lever electric braking energy recovery, the energy recovery control module 105 may obtain the braking demand torque according to the braking stroke of the braking lever and the vehicle speed information of the electric vehicle. It should be noted that the braking stroke and the vehicle speed information of the braking shift lever can be analyzed by the entire vehicle control system of the electric vehicle, so as to obtain the braking required torque of the driver. After the braking demand torque is acquired, the energy recovery control module 105 further acquires a power battery limit torque according to the power battery information and a driving motor limit torque according to the driving motor information, respectively, so as to ensure that the torque acting on the driving motor does not exceed the driving motor limit torque and the power battery limit torque, thereby protecting the driving motor and the power battery.
Specifically, as shown in fig. 2, after the braking demand torque, the power battery limiting torque and the driving motor limiting torque are acquired, the energy recovery control module 105 may further screen out an electric braking torque from the three torques, and control the driving motor of the electric vehicle to generate power according to the electric braking torque.
In some examples of the present invention, the determining module 104 is further configured to determine whether a vehicle speed of the electric vehicle is less than a preset vehicle speed threshold according to the vehicle speed information, determine whether a SOC of the power battery is less than a preset value according to the power battery information, determine whether an output prohibition fault exists in the power battery, and determine whether an output prohibition fault exists in the driving motor according to the driving motor information; and if the speed of the electric automobile is less than a preset speed threshold value, the SOC of the power battery is less than a preset value, the output prohibition fault does not exist in the power battery, and the output prohibition fault does not exist in the driving motor, the electric automobile is allowed to recover the electric braking energy of the shifting lever.
In some examples of the invention, the braking demand torque is positively correlated with both the vehicle speed of the electric vehicle and the braking stroke of the brake lever.
In some examples of the invention, the energy recovery control module 105 deriving the electric braking torque from the braking demand torque, the power battery limit torque, and the driving motor limit torque includes: and taking the minimum value of the braking demand torque, the power battery limiting torque and the driving motor limiting torque as the electric braking torque.
In some examples of the present invention, when a driving motor of an electric vehicle is controlled to generate power according to an electric brake torque, the electric brake torque generated by the driving motor is limited if a brake pedal of the electric vehicle is triggered.
For another specific implementation method of the energy recovery control device for an electric vehicle according to the embodiment of the present invention, reference may be made to the specific implementation method of the energy recovery control device for an electric vehicle according to the above-described embodiment of the present invention.
In conclusion, the energy recovery control device of the electric automobile can improve the cruising ability of the electric automobile, ensure the driving safety of the electric automobile and improve the energy recovery efficiency.
Fig. 4 is a block diagram of an electric vehicle according to an embodiment of the present invention.
As shown in fig. 4, the electric vehicle 1000 includes the energy recovery control device 100 of the electric vehicle in the above embodiment; alternatively, the electric vehicle includes the vehicle control unit (not shown) in the above embodiment.
According to the electric vehicle in the embodiment of the invention, through the energy recovery control device 100 or the vehicle control unit in the embodiment, the cruising ability of the electric vehicle can be improved, the driving safety of the electric vehicle is ensured, and meanwhile, the energy recovery efficiency is improved.
In addition, other structures and functions of the electric vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An energy recovery control method of an electric vehicle is characterized in that the electric vehicle comprises a brake driving lever, and the energy recovery control method comprises the following steps:
acquiring the speed information of the electric automobile, acquiring the power battery information of the electric automobile and acquiring the driving motor information of the electric automobile;
judging whether the electric automobile is allowed to recover the electric braking energy of the driving lever according to the vehicle speed information, the power battery information and the driving motor information;
if the electric automobile is allowed to recover the electric braking energy of the driving lever, acquiring braking required torque according to the braking stroke of the braking driving lever and the speed information of the electric automobile, acquiring power battery limiting torque according to the power battery information, and acquiring driving motor limiting torque according to the driving motor information;
and obtaining electric braking torque according to the braking demand torque, the power battery limiting torque and the driving motor limiting torque, and controlling a driving motor of the electric automobile to generate electricity according to the electric braking torque.
2. The energy recovery control method of the electric vehicle according to claim 1, wherein determining whether to allow the electric vehicle to perform the stick electric braking energy recovery according to the vehicle speed information, the power battery information, and the driving motor information comprises:
judging whether the speed of the electric automobile is smaller than a preset speed threshold value or not according to the speed information, judging whether the SOC of a power battery is smaller than a preset value or not according to the power battery information and judging whether the output prohibition fault exists in the power battery or not, and judging whether the output prohibition fault exists in the driving motor or not according to the driving motor information;
and if the speed of the electric automobile is less than a preset speed threshold value, the SOC of the power battery is less than a preset value, no output prohibition fault exists in the power battery, and no output prohibition fault exists in the driving motor, the electric automobile is allowed to recover the electric braking energy of the shifting lever.
3. The energy recovery control method of an electric vehicle according to claim 1 or 2, characterized in that the brake demand torque has a positive correlation with both the vehicle speed of the electric vehicle and the brake stroke of the brake lever.
4. The energy recovery control method of an electric vehicle according to claim 1 or 2, wherein obtaining an electric braking torque based on the braking demand torque, the power battery limit torque, and the drive motor limit torque, comprises:
and taking the minimum value of the braking demand torque, the power battery limiting torque and the driving motor limiting torque as the electric braking torque.
5. The energy recovery control method of an electric vehicle according to claim 1, wherein when the driving motor of the electric vehicle is controlled to generate electricity according to the electric brake torque, if a brake pedal of the electric vehicle is activated, the electric brake torque generated by the driving motor is limited.
6. A computer-readable storage medium, characterized in that an energy recovery control program of an electric vehicle is stored thereon, which when executed by a processor implements the energy recovery control method of the electric vehicle according to any one of claims 1 to 5.
7. A vehicle control unit, comprising a memory, a processor and an energy recovery control program of an electric vehicle stored in the memory and operable on the processor, wherein the processor implements the energy recovery control method of the electric vehicle according to any one of claims 1 to 5 when executing the energy recovery control program.
8. An energy recovery control device of an electric vehicle, characterized in that the electric vehicle includes a brake lever, the energy recovery control device comprising:
the first acquisition module is used for acquiring the speed information of the electric automobile;
the second acquisition module is used for acquiring power battery information of the electric automobile;
the third acquisition module is used for acquiring the driving motor information of the electric automobile;
the judging module is used for judging whether the electric automobile is allowed to recover the electric braking energy of the shifting lever according to the vehicle speed information, the power battery information and the driving motor information;
the energy recovery control module is used for acquiring braking demand torque according to the braking travel of the braking deflector rod and the speed information of the electric automobile when the electric automobile is allowed to recover electric braking energy of the deflector rod, acquiring power battery limiting torque according to the power battery information, acquiring driving motor limiting torque according to the driving motor information, acquiring electric braking torque according to the braking demand torque, the power battery limiting torque and the driving motor limiting torque, and controlling the driving motor of the electric automobile to generate electricity according to the electric braking torque.
9. The energy recovery control device of an electric vehicle according to claim 8, wherein the determination module is further configured to,
judging whether the speed of the electric automobile is smaller than a preset speed threshold value or not according to the speed information, judging whether the SOC of a power battery is smaller than a preset value or not according to the power battery information and judging whether the output prohibition fault exists in the power battery or not, and judging whether the output prohibition fault exists in the driving motor or not according to the driving motor information;
and if the speed of the electric automobile is less than a preset speed threshold value, the SOC of the power battery is less than a preset value, no output prohibition fault exists in the power battery, and no output prohibition fault exists in the driving motor, the electric automobile is allowed to recover the electric braking energy of the shifting lever.
10. An electric vehicle, characterized by comprising the vehicle control unit according to claim 7 or the energy recovery control device of the electric vehicle according to claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010998240.0A CN112319232A (en) | 2020-09-21 | 2020-09-21 | Electric vehicle, control method and device thereof, storage medium and vehicle control unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010998240.0A CN112319232A (en) | 2020-09-21 | 2020-09-21 | Electric vehicle, control method and device thereof, storage medium and vehicle control unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112319232A true CN112319232A (en) | 2021-02-05 |
Family
ID=74303947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010998240.0A Pending CN112319232A (en) | 2020-09-21 | 2020-09-21 | Electric vehicle, control method and device thereof, storage medium and vehicle control unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112319232A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407678A (en) * | 2022-02-17 | 2022-04-29 | 摩登汽车有限公司 | Vehicle braking control method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975702A (en) * | 2012-12-12 | 2013-03-20 | 奇瑞汽车股份有限公司 | Tandem regenerative brake control method |
| CN105857088A (en) * | 2016-06-24 | 2016-08-17 | 北京新能源汽车股份有限公司 | Electric vehicle and method and system for recycling its braking energy |
| KR20180069584A (en) * | 2016-12-15 | 2018-06-25 | 현대자동차주식회사 | Method for controlling motor torque of electric vehicle |
| CN109572438A (en) * | 2017-09-29 | 2019-04-05 | 比亚迪股份有限公司 | Electric car and its regenerating brake control method, device |
| CN110877529A (en) * | 2019-10-23 | 2020-03-13 | 河南速达电动汽车科技有限公司 | Pure electric vehicle and energy recovery control method and control system thereof |
-
2020
- 2020-09-21 CN CN202010998240.0A patent/CN112319232A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975702A (en) * | 2012-12-12 | 2013-03-20 | 奇瑞汽车股份有限公司 | Tandem regenerative brake control method |
| CN105857088A (en) * | 2016-06-24 | 2016-08-17 | 北京新能源汽车股份有限公司 | Electric vehicle and method and system for recycling its braking energy |
| KR20180069584A (en) * | 2016-12-15 | 2018-06-25 | 현대자동차주식회사 | Method for controlling motor torque of electric vehicle |
| CN109572438A (en) * | 2017-09-29 | 2019-04-05 | 比亚迪股份有限公司 | Electric car and its regenerating brake control method, device |
| CN110877529A (en) * | 2019-10-23 | 2020-03-13 | 河南速达电动汽车科技有限公司 | Pure electric vehicle and energy recovery control method and control system thereof |
Non-Patent Citations (1)
| Title |
|---|
| 朱军: "《新能源汽车动力系统控制原理及应用》", 31 January 2013 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407678A (en) * | 2022-02-17 | 2022-04-29 | 摩登汽车有限公司 | Vehicle braking control method and system |
| CN114407678B (en) * | 2022-02-17 | 2024-02-27 | 摩登汽车有限公司 | Control method and system for vehicle braking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7973505B2 (en) | Electric vehicle control device | |
| CN107264285B (en) | Driving motor detection method and device | |
| CN109572438B (en) | Electric automobile and regenerative braking control method and device thereof | |
| US20140323265A1 (en) | Vehicle travel control device | |
| US7266441B2 (en) | System and method for controlling idling stop of hybrid electric vehicle | |
| CN111267802B (en) | Vehicle control method, vehicle control system and automobile | |
| CN112660092A (en) | Downhill braking method and device for electric automobile and electric automobile | |
| CN106515506A (en) | System and method for controlling impact reduction of electric vehicle | |
| CN111775939B (en) | Energy recovery method and system for hybrid vehicle | |
| CN113696723A (en) | Sudden acceleration prevention method and vehicle using the same | |
| CN112319232A (en) | Electric vehicle, control method and device thereof, storage medium and vehicle control unit | |
| CN110848380A (en) | Pure electric heavy nine-gear AMT gearbox control system and control method | |
| JP6005650B2 (en) | Braking method and system for electric powered or hybrid vehicles | |
| CN105313705A (en) | Method and apparatus for controlling drive motor | |
| CN112660137B (en) | Vehicle gradient identification method and device and vehicle with same | |
| US20210129811A1 (en) | Vehicle Braking Control Method and System, Vehicle and Computer-Readable Storage Medium | |
| CN112874525A (en) | Crawling method and device for electric automobile and vehicle | |
| CN111674263A (en) | Auxiliary braking method and system for vehicle | |
| CN115123172A (en) | Brake system fault processing method and device, readable storage medium and vehicle | |
| CN115107774A (en) | Ramp automatic parking method and system, readable storage medium and vehicle | |
| KR100897114B1 (en) | Torque control method in brake operation of electric vehicle | |
| CN113085808A (en) | Vehicle escaping control method and device, brake system and storage medium | |
| CN112092634A (en) | Electric vehicle, ultra-low speed short-range emergency braking method and device thereof, and storage medium | |
| JP4072913B2 (en) | Vehicle battery management device | |
| CN113561787B (en) | Driving control method and device of distributed driving system and electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210205 |
|
| RJ01 | Rejection of invention patent application after publication |