CN114179765B - A taxiing energy recovery control method, device and system - Google Patents

Abstract

The application discloses a coasting energy recovery control method, device and system, the method comprises for example: acquiring a target external braking request; acquiring a brake pedal braking stroke, wherein the brake pedal braking stroke comprises a driver control pedal braking stroke and/or a brake pedal automatic sinking stroke; obtaining a brake pedal braking request according to the brake pedal braking travel; performing a fetching process based on the target external braking request and the braking pedal braking request to obtain a final braking request; acquiring energy recovery capacity torque; the distribution ratio of electric braking and hydraulic braking is determined based on the final braking request and the energy recovery capability torque.

Description

A taxiing energy recovery control method, device and system

technical field

The present application relates to the technical field of electric vehicles, in particular to a coasting energy recovery control method, device and system.

Background technique

With the development of technology, the development of new energy hybrid vehicles and pure electric vehicles has become an industry trend. Since the motor has two states of electric and power generation, pure electric vehicles have widely introduced the coasting energy recovery function, that is, when the driver completely releases the accelerator or the accelerator is less than or equal to a certain value, the motor enters the power generation state to provide a certain braking force. However, in the prior art, on the one hand, the coasting energy recovery function is affected by the state of the battery. For example, when the battery is fully charged, the coasting energy recovery function cannot be performed; on the other hand, when the driver controls braking, due to the low vehicle speed The power-off braking efficiency is low and the torque is not easy to control stably. The coasting energy recovery function will gradually exit, leaving only the braking force requested by the brake pedal. The driver will feel the weakening of the braking force at low speeds, which greatly affects the driving experience.

Therefore, there is an urgent need for a coasting energy recovery control method to solve the above problems.

Contents of the invention

An embodiment of the present application provides a coasting energy recovery control method, including: obtaining a target external braking request; obtaining a brake pedal braking stroke, the brake pedal braking stroke including the driver's control The brake pedal automatically sinks the stroke; obtains the brake pedal braking request according to the brake pedal braking stroke; and obtains the final braking request based on the target external braking request and the brake pedal braking request. ; Obtaining energy recovery capability torque; determining a distribution ratio of electric braking and hydraulic braking based on the final braking request and the energy recovery capability torque.

In an embodiment of the present application, the acquiring a target external braking request specifically includes: acquiring a coasting energy recovery target torque as the target external braking request.

In an embodiment of the present application, the obtaining the target external braking request specifically includes: obtaining the ADAS braking torque and the coasting energy recovery target torque; and performing the acquisition based on the coasting energy recovery target torque and the ADAS braking torque Large processing gets the target external braking request.

In an embodiment of the present application, before the acquiring the braking stroke of the brake pedal, it further includes: converting the target external braking request into a flow request of the master cylinder, so as to control the automatic sinking of the brake pedal.

The embodiment of the present application also provides a coasting energy recovery control device, including: a target external braking request acquisition module, used to acquire a target external braking request; a pedal braking stroke acquisition module, used to acquire a brake pedal braking stroke, The brake pedal braking stroke includes the driver's control pedal braking stroke and/or the brake pedal automatic sinking stroke; the pedal braking request analysis module is used to obtain the brake pedal braking stroke according to the brake pedal braking stroke. braking request; a braking request processing module, used to obtain a final braking request based on the target external braking request and the brake pedal braking request; an energy recovery capability acquisition module, used to obtain energy recovery capability Torque; an electro-hydraulic distribution module, configured to determine the distribution ratio of electric braking and hydraulic braking based on the final braking request and the energy recovery capability torque.

In one embodiment of the present application, the target external braking request obtaining module specifically includes: a first target external braking request obtaining unit, configured to obtain a coasting energy recovery target torque as the target external braking request.

In one embodiment of the present application, the external braking request obtaining module specifically includes: an external braking torque obtaining unit, configured to obtain ADAS braking torque and coasting energy recovery target torque; the second target external braking request obtaining A unit, configured to obtain the target external braking request by taking a larger value based on the coasting energy recovery target torque and the ADAS braking torque.

In one embodiment of the present application, before the pedal braking stroke acquisition module, it further includes: a flow request conversion module, configured to convert the target external braking request into a master cylinder flow request to control the brake pedal Automatic sinking.

The embodiment of the present application also provides a coasting energy recovery control system, including: a vehicle controller, a vehicle stability controller and an electronic booster, the vehicle controller is connected to the vehicle stability controller, and the electronic booster The booster is connected to the vehicle stability controller; wherein, the vehicle controller is configured to: calculate the energy recovery capability torque according to the state of the motor and the battery, and send the energy recovery capability torque to the vehicle stability controller; The electronic booster is used to: collect the braking stroke of the brake pedal and send it to the vehicle stability controller, the braking stroke of the brake pedal includes the driver's control of the pedal braking stroke and/or the automatic sinking of the brake pedal Stroke; the vehicle stability controller is used to: receive the brake pedal braking stroke and the energy recovery capability torque, obtain the brake pedal braking request according to the brake pedal braking stroke, and obtain the target external braking request, and based on the target external braking request and the brake pedal braking request, the final braking request is obtained, and the electric braking and hydraulic braking are determined based on the final braking request and the energy recovery capability torque. Active distribution ratio.

In one embodiment of the present application, the vehicle controller is further configured to: obtain the coasting energy recovery target torque according to the accelerator pedal opening and the current vehicle speed, and send the coasting energy recovery target torque to the vehicle stability control the vehicle stability controller is further configured to: receive the coasting energy recovery target torque, convert the coasting energy recovery target torque into a master cylinder flow request, and send the master cylinder flow request to the An electronic booster; the electronic booster is also used for: receiving the flow request of the master cylinder, and controlling the sinking of the brake pedal according to the flow request of the master cylinder.

The above-mentioned at least one technical solution adopted in the embodiment of the present application can achieve the following beneficial effects: by obtaining the brake pedal braking stroke including the driver's control pedal braking stroke and/or the brake pedal automatic sinking stroke, the brake pedal braking stroke can be obtained. According to the brake pedal braking request and the target external braking request, the final braking request is obtained by taking the largest processing, and the distribution of electric braking and hydraulic braking is determined according to the final braking request and energy recovery capacity torque Ratio, so that it is not affected by the state of the battery in the coasting state. For example, in the state of full battery charge, the coasting energy recovery intensity consistent with that of the state of non-full charge is still maintained, and when the driver presses the brake pedal, the overall braking of the vehicle at this time The dynamic request is the braking torque of the brake pedal, which is not affected by the change of the sliding energy recovery target torque, and can maintain the consistency of the braking force, greatly improving the driving experience.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

FIG. 1 is a schematic flow chart of a coasting energy recovery control method provided in Embodiment 1 of the present application;

Fig. 2 is a schematic flow chart of step S11 in Fig. 1;

Fig. 3 is another schematic flow chart of step S11 in Fig. 1;

Fig. 4 is another schematic flow chart of the coasting energy recovery control method;

Fig. 5 is a schematic structural diagram of a coasting energy recovery control system provided in Embodiment 1 of the present application;

Fig. 6 is another structural schematic diagram of the coasting energy recovery control system;

FIG. 7 is a schematic structural diagram of a coasting energy recovery control device provided in Embodiment 2 of the present application;

Fig. 8 is a module schematic diagram of the target external braking request acquisition module in Fig. 7;

Fig. 9 is a schematic diagram of another module of the target external braking request acquisition module in Fig. 7;

Fig. 10 is another structural schematic diagram of the coasting energy recovery control device.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

Example 1

Referring to Fig. 1, the taxiing energy recovery control method provided in Embodiment 1 of the present application includes the following steps:

S11, acquiring a target external braking request;

S13, obtaining the braking stroke of the brake pedal, the braking stroke of the brake pedal including the braking stroke controlled by the driver and/or the automatic sinking stroke of the brake pedal;

S15, obtaining a brake pedal braking request according to the brake pedal braking stroke;

S17. Based on the target external braking request and the brake pedal braking request, perform a large-scale processing to obtain a final braking request;

S19, obtaining energy recovery capability torque;

S21. Determine the distribution ratio of electric braking and hydraulic braking based on the final braking request and the energy recovery capability torque.

Referring to FIG. 2 , the acquisition of the target external braking request in step S11 specifically includes: S111a acquiring a coasting energy recovery target torque as the target external braking request.

Referring to Fig. 3, the acquisition of the target external braking request described in step S11 specifically includes steps:

S111b, acquiring ADAS braking torque and coasting energy recovery target torque;

S112. Based on the coasting energy recovery target torque and the ADAS braking torque, perform a maximum processing to obtain the target external braking request.

Referring to Fig. 4, before obtaining the braking stroke of the brake pedal in step S13, further steps are included:

S12, converting the target external braking request into a master cylinder flow request, so as to control the automatic sinking of the brake pedal.

The coasting energy recovery control method of the present application can be applied to the coasting energy recovery control system 10 shown in FIG. 5 , for example, it can be implemented in the vehicle stability controller 200 in FIG. 5 . In order to facilitate a clearer understanding of the coasting energy recovery control method of the present application, the coasting energy recovery control method of the present application will be described in detail below with reference to FIG. 5 and FIG. 6 .

Specifically, referring to FIG. 5 and FIG. 6 , the coasting energy recovery control system 10 may, for example, include a vehicle controller 100 , a vehicle stability controller 200 and an electronic booster 300 , and the vehicle controller 100 is connected to the vehicle stability controller 200 , the electronic booster 300 is connected to the vehicle stability controller 200 . Wherein, the vehicle controller 100 can be, for example, a pure electric vehicle vehicle control unit (Vehicle Control Unit, VCU). The capability calculation module 120 and the motor torque calculation module 130, the pedal torque analysis module 110, the energy recovery capability calculation module 120 and the motor torque calculation module 130 can be, for example, software modules; the vehicle stability controller 200 can be, for example, ESC (Electronic Stability Control) , the vehicle stability controller 200 may include, for example, sensors, electronic control units, actuators, etc., and may, for example, include a brake pedal brake torque analysis module 210, a brake request synthesis module 220, an external brake request coordination module 230, a flow request The conversion module 240 and the electro-hydraulic distribution module 250, the brake pedal brake torque analysis module 210, the brake request synthesis module 220, the external brake request coordination module 230, the flow request conversion module 240 and the electro-hydraulic distribution module 250 can be, for example, software module; the electronic booster 300 can be eBooster (Electric Brake Booster), for example, can include a brake pedal stroke acquisition module 310 and a servo brake module 320, and the brake pedal stroke acquisition module 310 and the servo brake module 320 can be, for example, software module.

Based on the above, when the vehicle is in a coasting state, the vehicle controller 100 can, for example, obtain the accelerator pedal opening and the current vehicle speed through the accelerator pedal torque analysis module 110 to obtain the coasting energy recovery target torque. Specifically, the vehicle controller 100 can communicate with The vehicle speed sensor, accelerator opening sensor, and accelerator pedal sensor of the body system are connected in communication so that the vehicle controller 100 can monitor information such as the current vehicle speed, the current accelerator opening, and the current state of the accelerator pedal. Of course, this is only an example It should be noted that the embodiments of the present application are not limited thereto. For example, when the vehicle controller 100 detects that the current vehicle speed is higher than the threshold value and the accelerator pedal opening signal is 0, it is determined that the coasting phase is currently entered, and the accelerator pedal torque analysis module 110 may, for example, perform Look up the table to obtain the corresponding coasting energy recovery target torque, and send the coasting energy recovery target torque to the external braking request coordination module 230 of the vehicle stability controller 200 .

The external braking request coordination module 230 may, for example, send the coasting energy recovery target torque as a target external braking request to the flow request conversion module 240 and the braking request synthesis module 220, and the external braking request coordination module 230 may also obtain the ADAS Braking torque, and then according to the coasting energy recovery target torque and the ADAS braking torque, perform a large processing to obtain the target external braking request, and send the target external braking request to the flow request conversion module 240 and the braking request synthesis module 220 , of course, the external braking request may also include other external braking requests, and is not limited to the aforementioned ADAS braking torque. The flow request module 240 converts the target external braking request into a master cylinder flow request, and sends the master cylinder flow request to the servo brake module 320 of the electronic booster 300, and the servo brake module 320 can, for example, according to the The master cylinder flow request generates a movement pushrod advance command to control the automatic dip of the brake pedal. Accelerator pedal opening and current vehicle speed are obtained through the accelerator pedal torque analysis module 110, and the coasting energy recovery target torque is directly obtained through table lookup, therefore, the coasting energy recovery target torque will not be affected by the battery state.

Based on the above, the brake pedal stroke collection module 310 of the electronic booster 300 is used to collect the push rod stroke of the brake pedal, that is, the brake pedal braking stroke, and the brake pedal braking stroke includes the driver's control pedal braking stroke and /or the automatic sinking stroke of the brake pedal, the brake pedal stroke acquisition module 310 can, for example, collect the pedal braking stroke through a stroke sensor, that is, when the car is in a coasting state, and the above-mentioned automatic sinking of the brake pedal is performed, the driver can step on the When the brake pedal is braking, the brake pedal braking stroke collected by the brake pedal stroke acquisition module 310 includes the driver's control pedal braking stroke and the brake pedal's automatic sinking stroke; When pedaling, since the brake pedal automatically sinks under the coasting state, the brake pedal braking stroke collected by the brake pedal stroke acquisition module 310 is the brake pedal automatic sinking stroke; If the driver steps on the brake pedal when the pedal is not sinking, the brake pedal braking stroke collected by the brake pedal stroke acquisition module 310 is the driver's control pedal braking stroke.

The brake pedal travel acquisition module 310 sends the brake pedal braking travel to the brake pedal braking torque analysis module 210 of the vehicle stability controller 200, and the brake pedal braking torque analysis module 210 sends the brake pedal braking torque analysis module 210 to the brake pedal braking torque analysis module 210. The brake stroke is obtained from the brake pedal and the brake request is sent to the brake request synthesis module 220. The brake request synthesis module 220 performs a large processing based on the target external brake request and the brake pedal brake request to obtain the final brake request. And send the final braking request to the electro-hydraulic distribution module 250 . The energy recovery capability calculation module 120 of the vehicle controller 100 can, for example, calculate the energy recovery capability torque according to the state of the motor and the battery and send it to the electro-hydraulic distribution module 250 of the vehicle stability controller 200. The electro-hydraulic distribution module 250 can, for example, be based on the Determine the distribution ratio of electric braking and hydraulic braking based on the final braking request and the energy recovery capability torque, which may be based on the final braking request, the energy recovery capability torque, current vehicle speed, and brake pedal change rate, for example. Determine the distribution ratio of electric braking and hydraulic braking, for example, generate electric braking request and hydraulic braking force to realize electric braking and hydraulic braking, and for example, send the electric braking request to the vehicle controller The motor torque calculation module 130 of 100, the motor torque calculation module 130 may, for example, convert the electric braking request into a motor torque request to the motor. Using the coasting energy recovery target torque as the braking request source, the electro-hydraulic distribution process can be performed in the vehicle stability controller 200 to ensure that even if the battery state does not allow coasting energy recovery, hydraulic braking can still be used to ensure the coasting time. consistent deceleration; and when the vehicle stability controller 200 receives the coasting energy recovery target torque of the vehicle controller 100, the vehicle stability controller 200 will request the electronic booster 300 to control the brake pedal to automatically sink to the coasting energy Recover the position corresponding to the target torque, the brake pedal stroke and the total braking force will maintain a corresponding look-up table relationship. When the driver steps on the brake pedal, the driver's braking intention is stronger than the braking requests of other systems of the vehicle itself, so the total braking request is the brake pedal braking torque, which is not affected by the change of the coasting energy recovery target torque. For example, when the driver transitions from coasting energy recovery to stepping on the brake pedal, the initial position of the brake pedal has moved down, and on this basis the driver continues to step down on the brake pedal, so the driver's brake pedal torque is greater than coasting energy recovery target torque, the total braking request is the brake pedal braking torque.

In summary, the coasting energy recovery control method provided in this embodiment obtains the brake pedal braking request by obtaining the brake pedal braking stroke including the driver's control pedal braking stroke and/or the brake pedal automatic sinking stroke, According to the brake pedal braking request and the target external braking request, the final braking request is obtained by taking the largest processing, and the distribution ratio of electric braking and hydraulic braking is determined according to the final braking request and energy recovery capacity torque, So that it is not affected by the state of the battery in the coasting state, for example, in the state of full battery charge, the coasting energy recovery intensity consistent with the state of non-full charge is still maintained, and when the driver steps on the brake pedal, the total braking request of the vehicle at this time The braking torque for the brake pedal is not affected by the change of the coasting energy recovery target torque, and can maintain the consistency of the braking force, greatly improving the driving experience.

Example 2

Referring to Fig. 7, Embodiment 2 of the present application provides a coasting energy recovery control device 400, including:

A target external braking request obtaining module 410, configured to obtain a target external braking request;

The pedal braking stroke acquisition module 420 is configured to acquire the brake pedal braking stroke, the brake pedal braking stroke includes the driver's control pedal braking stroke and/or the brake pedal automatic sinking stroke;

A pedal braking request analysis module 430, configured to obtain a brake pedal braking request according to the brake pedal braking stroke;

A braking request processing module 440, configured to perform a large processing based on the target external braking request and the brake pedal braking request to obtain a final braking request;

An energy recovery capability acquisition module 450, configured to acquire energy recovery capability torque;

The electro-hydraulic distribution module 460 is configured to determine the distribution ratio of electric braking and hydraulic braking based on the final braking request and the energy recovery capability torque.

Referring to FIG. 8, the target external braking request acquisition module 410 specifically includes:

The first target external braking request acquiring unit 411a is configured to acquire a coasting energy recovery target torque as the target external braking request.

Referring to FIG. 9, the target external braking request acquisition module 410 specifically includes:

An external braking torque acquiring unit 411b, configured to acquire ADAS braking torque and coasting energy recovery target torque;

The second target external braking request obtaining unit 412 is configured to obtain the target external braking request by taking a larger value based on the coasting energy recovery target torque and the ADAS braking torque.

Referring to FIG. 10 , before the pedal braking stroke acquisition module 420, it also includes:

The flow request converting module 470 is configured to convert the target external braking request into the master cylinder flow request, so as to control the automatic sinking of the brake pedal.

For the specific working process and technical effects among the various modules in the coasting energy recovery control device 400 in this embodiment, please refer to the description of the first embodiment above.

It should be noted that the subject of execution of each step of the method provided in Embodiment 1 may be the same device, or the method may also be executed by different devices. For example, the execution subject of step 21 and step 22 can be device 1, and the execution subject of step 23 can be device 2; for another example, the execution subject of step 21 can be device 1, and the execution subject of step 22 and step 23 can be device 2 ;etc.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The above descriptions are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (3)

1. A taxiing energy recovery control method, characterized in that, comprising: Get the target external braking request; Obtaining the braking stroke of the brake pedal, the braking stroke of the brake pedal includes the braking stroke of the driver's control pedal and the automatic sinking stroke of the brake pedal; obtaining a brake pedal braking request according to the brake pedal braking stroke; Based on the target external braking request and the brake pedal braking request, a final braking request is obtained by performing a large-scale processing; Acquire energy recovery capability torque; determining the distribution ratio of electric braking and hydraulic braking based on the final braking request and the energy recovery capability torque; The coasting energy recovery control method is applied to a coasting energy recovery control system. The coasting energy recovery control system includes a vehicle controller, a vehicle stability controller and an electronic booster. The vehicle controller is connected to the vehicle stability controller. The booster is connected with the vehicle stability controller; Among them, the vehicle controller is the general controller of the body system, including the accelerator pedal torque analysis module, the energy recovery capability calculation module and the motor torque calculation module; the vehicle stability controller includes the brake pedal brake torque analysis module, the brake request Integrated module, external brake request coordination module, flow request conversion module and electro-hydraulic distribution module; electronic booster includes brake pedal stroke acquisition module and servo brake module; When the vehicle is in a coasting state, the vehicle controller obtains the accelerator pedal opening and the current vehicle speed through the accelerator pedal torque analysis module to obtain the target torque for coasting energy recovery; when the vehicle controller detects that the current vehicle speed is higher than the threshold, the accelerator pedal opening signal If it is 0, it is judged that the coasting phase is currently entered, and the accelerator pedal torque analysis module performs a table lookup according to the accelerator pedal opening and the current vehicle speed to obtain the corresponding coasting energy recovery target torque, and sends the coasting energy recovery target torque to the vehicle stability control The external brake request coordination module of the controller; The external braking request coordination module obtains the ADAS braking torque, and then performs a large processing according to the coasting energy recovery target torque and the ADAS braking torque to obtain the target external braking request, and sends the target external braking request to flow request conversion module and braking request synthesis module; the flow request conversion module converts the target external braking request into the flow request of the master cylinder, and sends the flow request of the master cylinder to the servo brake module of the electronic booster, and the servo brake module According to the flow request of the master cylinder, a moving push rod progress command is generated to control the automatic sinking of the brake pedal. 2. The coasting energy recovery control method according to claim 1, further comprising: The target external braking request is converted to a master cylinder flow request to control automatic dipping of the brake pedal. 3. A coasting energy recovery control system, characterized in that it comprises: a vehicle controller, a vehicle stability controller and an electronic booster, the vehicle controller is connected to the vehicle stability controller, and the electronic booster The booster is connected with the vehicle stability controller; Among them, the vehicle controller is the general controller of the body system, including the accelerator pedal torque analysis module, the energy recovery capability calculation module and the motor torque calculation module; the vehicle stability controller includes the brake pedal brake torque analysis module, the brake request Integrated module, external brake request coordination module, flow request conversion module and electro-hydraulic distribution module; electronic booster includes brake pedal stroke acquisition module and servo brake module; When the vehicle is in a coasting state, the vehicle controller obtains the accelerator pedal opening and the current vehicle speed through the accelerator pedal torque analysis module to obtain the target torque for coasting energy recovery; when the vehicle controller detects that the current vehicle speed is higher than the threshold, the accelerator pedal opening signal If it is 0, it is judged that the coasting phase is currently entered, and the accelerator pedal torque analysis module performs a table lookup according to the accelerator pedal opening and the current vehicle speed to obtain the corresponding coasting energy recovery target torque, and sends the coasting energy recovery target torque to the vehicle stability control The external brake request coordination module of the controller; The external braking request coordination module also obtains the ADAS braking torque, and then performs a large processing according to the coasting energy recovery target torque and the ADAS braking torque to obtain the target external braking request, and sends the target external braking request to the flow request conversion module and brake request synthesis module; the flow request conversion module converts the target external brake request into the master cylinder flow request, and sends the master cylinder flow request to the servo brake module of the electronic booster, and the servo brake module according to The master cylinder flow request generates a move pushrod progression command to control automatic dipping of the brake pedal.

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