CN113968142A - Energy recovery control method and device and automobile - Google Patents
Energy recovery control method and device and automobile Download PDFInfo
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- CN113968142A CN113968142A CN202010710767.9A CN202010710767A CN113968142A CN 113968142 A CN113968142 A CN 113968142A CN 202010710767 A CN202010710767 A CN 202010710767A CN 113968142 A CN113968142 A CN 113968142A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides an energy recovery control method and device and an automobile, and relates to the technical field of automobiles. The energy recovery control method includes: when a braking signal is detected, acquiring the current adhesion state of the wheel; and controlling the energy recovery torque according to the current adhesion state. Through the judgment of the wheel adhesion state in the vehicle braking process and according to the current adhesion state, the energy recovery torque is controlled, so that the situation that the driving wheel breaks through the tire adhesion limit and even locks the wheel is prevented, and the driving safety risk is reduced.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an energy recovery control method and device and an automobile.
Background
The pure electric vehicle realizes motor braking by means of energy recovery torque applied to the driving wheel, converts kinetic energy of vehicle deceleration into electric energy to feed back to the power battery, reduces heat energy dissipation of mechanical braking, improves the economy of the whole vehicle and prolongs the endurance mileage. However, the larger energy recovery torque can cause the driving wheel to break through the adhesion limit of the tire and even lock the wheel, which causes the safety risk of driving. And the power system of the front-drive vehicle only drives the front wheels, the front wheels are locked due to energy recovery torque, the steering of the vehicle is insufficient, and even if a driver operates a steering wheel, the accident risk of 'the vehicle cannot steer' or even more serious when the driver drives the vehicle at high speed can still occur.
Disclosure of Invention
The embodiment of the invention provides an energy recovery control method and device and an automobile, and aims to solve the problem of how to improve the stability of the automobile in the energy recovery process.
In order to solve the above technical problem, an embodiment of the present invention provides an energy recovery control method, including:
when a braking signal is detected, acquiring the current adhesion state of the wheel;
and controlling the energy recovery torque according to the current adhesion state.
Further, the acquiring the current adhesion state of the wheel comprises:
calculating a wheel speed difference between the driven wheel speed and the driving wheel speed;
and determining the current adhesion force state according to the wheel speed difference.
Further, the determining the current adhesion state according to the wheel speed difference includes:
determining that the current adhesion force state is a torque limiting state under the condition that the wheel speed difference is greater than or equal to a first preset threshold value;
determining that the current adhesion force state is a torque maintaining state under the condition that the wheel speed difference is greater than or equal to a second preset threshold and smaller than the first preset threshold;
determining that the current adhesion force state is a torque recovery state when the wheel speed difference is greater than or equal to a third preset threshold and smaller than the second preset threshold;
determining that the current adhesion force state is a torque driving state under the condition that the wheel speed difference is smaller than the third preset threshold value;
the first preset threshold is larger than a second preset threshold, and the second preset threshold is larger than a third preset threshold.
Further, the method further comprises:
acquiring a current vehicle speed;
and when the current vehicle speed is greater than a preset vehicle speed, adjusting the first preset threshold, the second preset threshold and/or the third preset threshold.
Further, the controlling the energy recovery torque according to the current adhesion state comprises:
when the current adhesion force state is the torque limiting state, limiting the energy recovery torque according to a preset change gradient;
when the current adhesion force state is the torque maintaining state, keeping the energy recovery torque unchanged, and monitoring the current adhesion force state;
when the current adhesion force state is the torque recovery state, controlling the energy recovery moment to be increased to be the current required recovery moment according to a preset change gradient;
and when the current adhesive force state is the torque driving state, quitting the control of the energy recovery moment.
Further, the method further comprises:
determining the current road surface state;
when the current road surface state is determined to be a bumpy road surface, adjusting the first preset threshold value, the second preset threshold value and/or the third preset threshold value;
and when the current road surface state is determined to be a low-adhesion road surface, adjusting a preset change gradient for controlling the energy recovery torque.
Further, the determining the current road surface state includes:
acquiring longitudinal acceleration;
when the times that the longitudinal acceleration is larger than zero in preset time exceed a preset value, determining that the road surface state is a bumpy road surface;
acquiring the current master cylinder pressure and energy recovery torque;
and determining a slip rate threshold value according to the current master cylinder pressure and the energy recovery moment, and determining that the road surface state is a low-adhesion road surface when the current vehicle slip rate is greater than the slip rate threshold value and is continuously preset for a long time.
An embodiment of the present invention further provides an energy recovery control device, where the device includes:
the first acquisition module is used for acquiring the current adhesion state of the wheel when the braking signal is detected;
and the first control module is used for controlling the energy recovery torque according to the current adhesion state.
Further, the first obtaining module includes:
a calculating unit for calculating a wheel speed difference between the driven wheel speed and the driving wheel speed;
and the first determining unit is used for determining the current adhesion state according to the wheel speed difference.
The embodiment of the invention also provides an automobile which comprises the energy recovery control device.
The invention has the beneficial effects that:
according to the scheme, the wheel adhesion state in the vehicle braking process is judged, and the energy recovery torque is controlled according to the current adhesion state, so that the situation that the driving wheel breaks through the tire adhesion limit or even locks the wheel is prevented, and the driving safety risk is reduced.
Drawings
FIG. 1 is a schematic flow diagram of an energy recovery control method according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of an energy recovery control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The existing energy recovery control methods for electric automobiles are all recovery rate-focusing schemes, and the control of energy recovery based on the stability of the whole automobile is not effectively considered. For example, whether the vehicle is in a braking state or not is identified through a brake switch, energy recovery is applied, and the stability of the whole vehicle is ensured only by an ABS (anti-lock brake system); if the vehicle applies an excessive energy recovery torque before the ABS is activated, the drive wheels may break the adhesion limit, compromising driving safety. For example, the braking force distribution of the front axle and the rear axle is carried out according to the braking force distribution curve, the energy recovery of the rear wheels cannot be overlarge due to the limited area of the curve, the driving stability of the vehicle is only ensured by an anti-lock brake system (ABS), the actual driving stability of the vehicle is not identified in real time, and therefore the root cause of the locking of the vehicle is not reasonably and quickly controlled, and the energy recovery torque is necessarily controlled. Once the ABS of the chassis fails or breaks down, driving safety risks can be brought, or the non-energy recovery of the whole vehicle brings the reduction of the endurance mileage and the obvious change of the braking sensation of the whole vehicle.
The invention provides an energy recovery control method and device and an automobile, aiming at the problem of how to improve the stability of the automobile in the energy recovery process.
As shown in fig. 1, an embodiment of the present invention provides an energy recovery control method, including:
and step 12, controlling the energy recovery torque according to the current adhesion state.
According to the embodiment of the invention, the energy recovery torque is controlled by judging the adhesion state of the wheel in the vehicle braking process and according to the current adhesion state, so that the situation that the driving wheel breaks through the adhesion limit of the tire and even locks the wheel is prevented, and the driving safety risk is reduced.
It should be noted that, during braking, a large energy recovery torque may cause the driving wheel to break through the adhesion limit of the tire and even lock the wheel, resulting in a driving safety risk. And the power system of the front-drive vehicle only drives the front wheels, the front wheels are locked due to energy recovery torque, the vehicle can be under-steered, and even if a driver operates a steering wheel, the accident risk that the vehicle can not be steered or even is more serious can still occur during high-speed driving. Due to the existence of braking force, a wheel speed difference is generated between the driving wheel speed and the driven wheel speed, and the larger the wheel speed difference is, the smaller the longitudinal adhesive force of the driven wheel is, the poorer the stability of the vehicle is, and at the moment, the energy recovery moment needs to be limited, so that the occurrence of the situation of wheel locking is prevented.
Specifically, the current longitudinal adhesion of the vehicle can be determined according to the wheel speed difference, so that the step 11 of obtaining the current adhesion state of the wheel includes:
calculating a wheel speed difference between the driven wheel speed and the driving wheel speed;
and determining the current adhesion force state according to the wheel speed difference.
It should be noted that the wheel speed difference is a wheel speed difference on the left side or the right side of the vehicle, and in order to prevent the current adhesion state from being recognized by mistake due to road surface bump and wheel speed fluctuation, the wheel speed difference obtained by calculation needs to be corrected, and specifically, the wheel speed difference can be corrected by using an average value of left and right driven wheel speeds as a reference vehicle speed of the driven wheel.
Specifically, the embodiment of the present invention determines four adhesion states by determining a wheel speed difference through three threshold values, and determining a current adhesion state according to the wheel speed difference includes:
determining that the current adhesion force state is a torque limiting state under the condition that the wheel speed difference is greater than or equal to a first preset threshold value;
determining that the current adhesion force state is a torque maintaining state under the condition that the wheel speed difference is greater than or equal to a second preset threshold and smaller than the first preset threshold;
determining that the current adhesion force state is a torque recovery state when the wheel speed difference is greater than or equal to a third preset threshold and smaller than the second preset threshold;
determining that the current adhesion force state is a torque driving state under the condition that the wheel speed difference is smaller than the third preset threshold value;
the first preset threshold is larger than a second preset threshold, and the second preset threshold is larger than a third preset threshold.
The wheel speed difference is gradually decreased in the order of the torque limiting state, the torque maintaining state, the torque restoring state, and the torque driving state.
It should be noted that, when determining the current adhesion force state, in order to improve the determination accuracy, the first preset threshold, the second preset threshold, and the third preset threshold need to be adjusted according to the driving parameter information of the vehicle.
On one hand, since the driven wheel speed shows a trend of increasing errors along with the vehicle speed according to the road bump, the error elimination processing needs to be performed on the calculated wheel speed difference, that is, the higher the vehicle speed is, the larger the first preset threshold, the second preset threshold and the third preset threshold which determine the current adhesion state of the vehicle are, so as to eliminate the speed error caused by the overlarge vehicle speed, so that the method further comprises the following steps:
acquiring a current vehicle speed;
and when the current vehicle speed is greater than a preset vehicle speed, adjusting the first preset threshold, the second preset threshold and/or the third preset threshold.
Specifically, when the vehicle speed is greater than the preset vehicle speed, the vehicle is in a high-speed running state, if the wheel speed difference is continuously judged by adopting a first preset threshold, a second preset threshold and a third preset threshold, and the current adhesion state is determined, the effective control on the vehicle stability cannot be realized, so that the threshold needs to be improved, wherein the adjustment values of the first preset threshold, the second preset threshold and the third preset threshold can be obtained according to a real vehicle test.
On the other hand, in order to further reduce the probability of tire breakthrough limit caused by energy recovery, identifying bumpy road surfaces enhances the robustness of the method on bad roads, and prevents the control method from mistakenly identifying, so that energy recovery is firstly weakened, the braking distance is lengthened, and the judgment threshold value for identifying the current adhesive force state through wheel speed difference needs to be increased, namely the first preset threshold value, the second preset threshold value and the third preset threshold value, so the method further comprises the following steps:
determining the current road surface state;
when the current road surface state is determined to be a bumpy road surface, adjusting the first preset threshold value, the second preset threshold value and/or the third preset threshold value;
specifically, the determining the current road surface state includes:
acquiring longitudinal acceleration;
and when the times that the longitudinal acceleration is larger than zero in the preset time exceeds a preset value, determining that the road surface state is a bumpy road surface.
In the energy recovery control method of the embodiment of the present invention, when a vehicle brakes, braking energy is converted into electric energy to be fed back to a power battery, the control of an energy recovery torque needs to be adjusted according to the current adhesion state of the vehicle, when the longitudinal adhesion of a wheel is small and the stability is poor, the energy recovery torque is limited, so as to quickly recover the longitudinal adhesion of the wheel and prevent the occurrence of a wheel lock, and meanwhile, in order to improve the energy recovery rate, the energy recovery torque needs to be improved to a required recovery torque when the adhesion of the wheel is recovered stably, so the step 12 includes:
when the current adhesion force state is the torque limiting state, limiting the energy recovery torque according to a preset change gradient;
when the current adhesion force state is the torque maintaining state, keeping the energy recovery torque unchanged, and monitoring the current adhesion force state;
when the current adhesion force state is the torque recovery state, controlling the energy recovery moment to be increased to be the current required recovery moment according to a preset change gradient;
and when the current adhesive force state is the torque driving state, quitting the control of the energy recovery moment.
It should be noted that, due to the influence of factors such as the energy recovery torque, the braking force, the master cylinder pressure, the vehicle speed, the road surface condition, and the like, the current adhesion state is always in a conversion state in the control process of the energy recovery torque, that is, when the current adhesion state is a torque limiting state, the torque of the energy recovery torque needs to be quickly limited, and the longitudinal adhesion of the rear wheel, i.e., the driven wheel, needs to be recovered at the fastest speed. When the current adhesion state is a torque recovery state, the stability is longitudinally recovered at the moment, and in order to improve the energy recovery rate, the energy recovery torque needs to be quickly recovered to the original required torque size, namely the current required recovery torque, at a certain speed, so that the energy is recovered as much as possible. And when the current adhesion force state is a torque maintaining state, maintaining the current energy recovery torque for recovery, monitoring the wheel speed difference in real time, and determining to enter a torque limiting state or a torque recovery state. When the current adhesion force state is a torque driving state, the wheel speed difference is small or negative, which indicates that the vehicle exits from a braking state, no braking energy is recovered, and the vehicle exits from an energy recovery working condition.
It should be further noted that, considering that when the adhesion between the wheel and the ground is low, if the control on the energy recovery torque is continued according to the preset variation gradient, the variation of the torque is too fast, and the variation gradient of the energy recovery torque needs to be limited, so that the wheel speed is closer to the state under the constant torque, and the adhesion state is more accurately identified according to the wheel speed difference. The method therefore further comprises:
determining the current road surface state;
and when the current road surface state is determined to be a low-adhesion road surface, adjusting a preset change gradient for controlling the energy recovery torque.
Specifically, the determining the current road surface state includes:
acquiring the current master cylinder pressure and energy recovery torque;
and determining a slip rate threshold value according to the current master cylinder pressure and the energy recovery moment, and determining that the road surface state is a low-adhesion road surface when the current vehicle slip rate is greater than the slip rate threshold value and is continuously preset for a long time.
It should be noted that the current braking force can be determined according to the master cylinder pressure and the energy recovery torque, and under the same braking force, the vehicle slip rate is different on different road surfaces, and is a fixed relation curve, and the vehicle slip rate is determined through actual vehicle calibration. The current road surface condition can therefore be judged from the current master cylinder pressure and the vehicle slip ratio. Specifically, when the current vehicle slip ratio is greater than the slip ratio threshold value and continues for a preset time, it is determined that the vehicle enters the low-attachment road surface, and the preset change gradient of the energy recovery torque needs to be limited.
According to the energy recovery control method provided by the embodiment of the invention, multiple dimensions such as wheel speed difference, longitudinal acceleration, slip rate and vehicle speed are comprehensively considered, so that various conditions that the vehicle is easy to lock wheels, such as high-speed running, high-speed sliding, high-speed braking, low-attachment running, high-speed turning and low-attachment turning of the vehicle, can be covered, and the driving safety risk is reduced.
The embodiment of the invention ensures the running stability of the vehicle without ESP, and hardly increases the cost; the method has the advantages that low-attachment and bumpy pavements are effectively identified, calculation deviation caused by vehicle speed fluctuation of various bad pavements (washboard pavements, stone pavements, bumpy pavements and dirt pavements) is effectively shielded, and the application scene range is wider; due to strategy protection, the ABS activation condition caused by energy recovery is reduced, the ABS use condition is optimized, and the service life of the ABS is prolonged. The ECE lines of the front wheels and the rear wheels can be not considered when the high-adhesion normal driving is applied for energy recovery, the energy recovery can be properly improved, the economy of the whole vehicle under the normal working condition of a good road is improved, and the endurance mileage is prolonged.
As shown in fig. 2, an embodiment of the present invention further provides an energy recovery control device, where the device includes:
the first obtaining module 21 is configured to obtain a current adhesion state of the wheel when the braking signal is detected;
and the first control module 22 is used for controlling the energy recovery torque according to the current adhesion force state.
According to the embodiment of the invention, the energy recovery torque is controlled by judging the adhesion state of the wheel in the vehicle braking process and according to the current adhesion state, so that the situation that the driving wheel breaks through the adhesion limit of the tire and even locks the wheel is prevented, and the driving safety risk is reduced.
Specifically, the first obtaining module 21 includes:
a calculating unit for calculating a wheel speed difference between the driven wheel speed and the driving wheel speed;
and the first determining unit is used for determining the current adhesion state according to the wheel speed difference.
Specifically, the first determination unit includes:
the first determining subunit is used for determining that the current adhesion force state is a torque limiting state under the condition that the wheel speed difference is greater than or equal to a first preset threshold value;
the second determining subunit is configured to determine that the current adhesion state is a torque maintaining state when the wheel speed difference is greater than or equal to a second preset threshold and smaller than the first preset threshold;
the third determining subunit is configured to determine that the current adhesion force state is a torque recovery state when the wheel speed difference is greater than or equal to a third preset threshold and smaller than the second preset threshold;
a fourth determining subunit, configured to determine that the current adhesion state is a torque driving state when the wheel speed difference is smaller than the third preset threshold;
the first preset threshold is larger than a second preset threshold, and the second preset threshold is larger than a third preset threshold.
Specifically, the energy recovery control device further includes:
the second acquisition module is used for acquiring the current vehicle speed;
and the second control module is used for adjusting the first preset threshold, the second preset threshold and/or the third preset threshold when the current vehicle speed is greater than a preset vehicle speed.
Specifically, the first control module 22 includes:
the first control unit is used for limiting the energy recovery torque according to a preset change gradient when the current adhesion force state is the torque limiting state;
the second control unit is used for keeping the energy recovery torque unchanged and monitoring the current adhesion state when the current adhesion state is the torque maintaining state;
the third control unit is used for controlling the energy recovery torque to be increased to the current required recovery torque according to a preset change gradient when the current adhesion force state is the torque recovery state;
and the fourth control unit is used for quitting the control of the energy recovery moment when the current adhesive force state is the torque driving state.
Specifically, the energy recovery control device further includes:
the determining module is used for determining the current road surface state;
the third control module is used for adjusting the first preset threshold, the second preset threshold and/or the third preset threshold when the current road surface state is determined to be a bumpy road surface;
and the fourth control module is used for adjusting the preset change gradient for controlling the energy recovery moment when the current road surface state is determined to be a low-adhesion road surface.
Specifically, the determining module includes:
a first acquisition unit configured to acquire a longitudinal acceleration;
the second determining unit is used for determining that the road surface state is a bumpy road surface when the number of times that the longitudinal acceleration is larger than zero exceeds a preset value within preset time;
the second acquisition unit is used for acquiring the current master cylinder pressure and the energy recovery moment;
and the third determining unit is used for determining a slip rate threshold value according to the current master cylinder pressure and the energy recovery moment, and determining that the road surface state is a low-adhesion road surface when the current vehicle slip rate is greater than the slip rate threshold value and is continuously preset for a long time.
The embodiment of the invention also provides an automobile which comprises the energy recovery control device. The implementation embodiments of the energy recovery control device are all applicable to the embodiment of the automobile, and the same technical effects can be achieved.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (10)
1. An energy recovery control method, characterized by comprising:
when a braking signal is detected, acquiring the current adhesion state of the wheel;
and controlling the energy recovery torque according to the current adhesion state.
2. The energy recovery control method according to claim 1, wherein the acquiring the current adhesion state of the wheel includes:
calculating a wheel speed difference between the driven wheel speed and the driving wheel speed;
and determining the current adhesion force state according to the wheel speed difference.
3. The energy recovery control method of claim 2, wherein the determining a current adhesion state from the wheel speed differential comprises:
determining that the current adhesion force state is a torque limiting state under the condition that the wheel speed difference is greater than or equal to a first preset threshold value;
determining that the current adhesion force state is a torque maintaining state under the condition that the wheel speed difference is greater than or equal to a second preset threshold and smaller than the first preset threshold;
determining that the current adhesion force state is a torque recovery state when the wheel speed difference is greater than or equal to a third preset threshold and smaller than the second preset threshold;
determining that the current adhesion force state is a torque driving state under the condition that the wheel speed difference is smaller than the third preset threshold value;
the first preset threshold is larger than a second preset threshold, and the second preset threshold is larger than a third preset threshold.
4. The energy recovery control method of claim 3, further comprising:
acquiring a current vehicle speed;
and when the current vehicle speed is greater than a preset vehicle speed, adjusting the first preset threshold, the second preset threshold and/or the third preset threshold.
5. The energy recovery control method according to claim 3, wherein the controlling an energy recovery torque according to the current adhesion state includes:
when the current adhesion force state is the torque limiting state, limiting the energy recovery torque according to a preset change gradient;
when the current adhesion force state is the torque maintaining state, keeping the energy recovery torque unchanged, and monitoring the current adhesion force state;
when the current adhesion force state is the torque recovery state, controlling the energy recovery moment to be increased to be the current required recovery moment according to a preset change gradient;
and when the current adhesive force state is the torque driving state, quitting the control of the energy recovery moment.
6. The energy recovery control method according to claim 5, characterized in that the method further comprises:
determining the current road surface state;
when the current road surface state is determined to be a bumpy road surface, adjusting the first preset threshold value, the second preset threshold value and/or the third preset threshold value;
and when the current road surface state is determined to be a low-adhesion road surface, adjusting a preset change gradient for controlling the energy recovery torque.
7. The energy recovery control method according to claim 6, wherein the determining the current road surface state includes:
acquiring longitudinal acceleration;
when the times that the longitudinal acceleration is larger than zero in preset time exceed a preset value, determining that the road surface state is a bumpy road surface;
acquiring the current master cylinder pressure and energy recovery torque;
and determining a slip rate threshold value according to the current master cylinder pressure and the energy recovery moment, and determining that the road surface state is a low-adhesion road surface when the current vehicle slip rate is greater than the slip rate threshold value and is continuously preset for a long time.
8. An energy recovery control device, characterized in that the device comprises:
the first acquisition module is used for acquiring the current adhesion state of the wheel when the braking signal is detected;
and the first control module is used for controlling the energy recovery torque according to the current adhesion state.
9. The energy recovery control device of claim 8, wherein the first obtaining module comprises:
a calculating unit for calculating a wheel speed difference between the driven wheel speed and the driving wheel speed;
and the first determining unit is used for determining the current adhesion state according to the wheel speed difference.
10. An automobile, characterized by comprising the energy recovery control device according to any one of claims 8 to 9.
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| CN101791978A (en) * | 2010-03-26 | 2010-08-04 | 重庆长安汽车股份有限公司 | Method for compensating braking force of hybrid power vehicle |
| DE112013004517T5 (en) * | 2012-09-18 | 2015-06-03 | Murata Manufacturing Co., Ltd. | Mobile body |
| CN105644536A (en) * | 2016-04-11 | 2016-06-08 | 芜湖伯特利汽车安全系统股份有限公司 | Braking energy recovery system and control method based on system |
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