CN115246321A

CN115246321A - New energy vehicle energy recovery method and device and vehicle-mounted controller

Info

Publication number: CN115246321A
Application number: CN202211004539.5A
Authority: CN
Inventors: 张家福; 刘晓冉; 邵建萍; 王立星; 田宇
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Geely New Energy Commercial Vehicle Group Co Ltd; Zhejiang Remote Commercial Vehicle R&D Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Geely New Energy Commercial Vehicle Group Co Ltd; Zhejiang Remote Commercial Vehicle R&D Co Ltd
Priority date: 2022-08-22
Filing date: 2022-08-22
Publication date: 2022-10-28

Abstract

The application provides a new energy vehicle energy recovery method and device and a vehicle-mounted controller. The method comprises the following steps: the vehicle-mounted controller acquires vehicle information of the vehicle. The vehicle-mounted controller determines the energy recovery mode of the vehicle through comparison and judgment according to the vehicle information and the judgment condition. And the vehicle-mounted controller calculates to obtain the energy recovery torque according to the vehicle-mounted information and a preset energy recovery torque calculation formula. The vehicle controller transmits the energy recovery torque to the corresponding actuator after determining the energy recovery mode, thereby implementing the energy recovery operation. In the corresponding execution equipment, the controller of the execution equipment generates a corresponding control command according to the energy recovery torque and controls the execution equipment to execute energy recovery operation. The method improves the energy recovery efficiency and improves the smoothness of the vehicle during braking.

Description

New energy vehicle energy recovery method and device and vehicle-mounted controller

Technical Field

The application relates to the field of energy recovery, in particular to a new energy vehicle energy recovery method and device and a vehicle-mounted controller.

Background

With the rapid development of new energy automobiles, the market has higher and higher requirements on endurance mileage. Under the condition that the power battery is kept unchanged, the energy consumption of the vehicle is reduced, and the key point for improving the endurance mileage is realized. The recovery of the braking energy of the vehicle is applied as an important means of consumption reduction.

Currently, most of energy recovery strategies commonly used in the industry define a plurality of gears by a host factory. For example, the three energy recovery grade gears including low, medium and high are included. The main engine plant can comprehensively consider factors such as safety and the like according to the configuration of the vehicle, and calibrate the recovery torque of each gear. The driver can switch the recovery torque autonomously according to the driving habit of the driver.

The use of this method easily leads to an association of energy recovery with the subjective perception of the individual. Different drivers have great difference in the electric quantity obtained by energy recovery under the same recovery gear. The method is easy to cause the uneven energy recovery efficiency level of the vehicle, and further has the problem of low energy recovery efficiency

Disclosure of Invention

The application provides a new energy vehicle energy recovery method and device and a vehicle-mounted controller, which are used for solving the problem of low energy recovery efficiency of a vehicle.

In a first aspect, the present application provides a new energy vehicle energy recovery method, including:

acquiring vehicle information of a vehicle, wherein the vehicle information comprises a current load;

determining an energy recovery mode and an energy recovery torque of the vehicle according to the vehicle information of the vehicle;

performing an energy recovery operation according to the energy recovery mode and the energy recovery torque of the vehicle.

Optionally, the determining an energy recovery mode and an energy recovery torque of the vehicle according to the vehicle information of the vehicle specifically includes:

determining an energy recovery mode of the vehicle according to at least one of vehicle speed information, accelerator pedal opening, brake pedal opening, ABS (anti-lock braking system) state and charge state in the vehicle information;

determining a recovery torque calibration amount of the vehicle according to the energy recovery mode of the vehicle;

determining an energy recovery torque of the vehicle based on the recovery torque calibration amount and the current load of the vehicle.

Optionally, the recovered torque calibration amount comprises a full load recovered torque; the determining the energy recovery torque of the vehicle according to the recovery torque calibration amount and the current load of the vehicle specifically includes:

determining a load specific gravity based on the current load of the vehicle and a full load of the vehicle;

and determining the energy recovery torque of the vehicle according to the load specific gravity and the full-load recovery torque calibration quantity.

Optionally, the recovered torque calibration amounts include an unloaded recovered torque, a half-loaded recovered torque, and a full-loaded recovered torque; the determining the energy recovery torque of the vehicle according to the recovery torque calibration amount and the current load of the vehicle specifically further comprises:

and determining the energy recovery torque of the vehicle according to the current load on the basis of the full-load recovery torque calibration quantity, the half-load recovery torque calibration quantity and the no-load recovery torque calibration quantity by using an interpolation method.

Optionally, the acquiring vehicle information of the vehicle specifically includes:

acquiring suspension information and tire pressure information of the vehicle;

and determining the current load of the vehicle according to the suspension information, the tire pressure information and a load calculation formula.

Optionally, the method specifically includes:

and determining the recovery torque calibration quantity of the vehicle according to at least one of the opening degree of an accelerator pedal, the opening degree of a brake pedal, the ABS state, the vehicle speed information, the charge state and the motor state in the state information.

In a second aspect, the present application provides a new energy vehicle energy recovery device, including:

the system comprises an acquisition module, a load acquisition module and a load management module, wherein the acquisition module is used for acquiring vehicle information of a vehicle, and the vehicle information comprises a current load;

the processing module is used for determining an energy recovery mode and an energy recovery torque of the vehicle according to the vehicle information of the vehicle; performing an energy recovery operation according to the energy recovery mode and the energy recovery torque of the vehicle.

Optionally, the processing module is specifically configured to:

Optionally, the obtaining module is specifically configured to:

acquiring suspension information and tire pressure information of the vehicle;

Optionally, the processing module is further configured to:

In a third aspect, the present application provides a vehicle-mounted controller, comprising: a memory and a processor;

the memory is used for storing a computer program; the processor is configured to execute the method for energy recovery of a new energy vehicle according to the first aspect and any one of the possible designs of the first aspect, according to the computer program stored in the memory.

In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored therein, where when the computer program is executed by at least one processor of the onboard controller, the onboard controller executes the new energy vehicle energy recovery method according to the first aspect and any one of the possible designs of the first aspect.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by at least one processor of an onboard controller, causes the onboard controller to carry out the new energy vehicle energy recovery method of the first aspect and any one of the possible designs of the first aspect.

According to the new energy vehicle energy recovery method, the new energy vehicle energy recovery device and the vehicle-mounted controller, vehicle information of a vehicle is obtained; determining an energy recovery mode of the vehicle through comparison and judgment according to the vehicle information and the judgment condition; calculating to obtain an energy recovery torque according to the vehicle-mounted information and a preset energy recovery torque calculation formula; after determining the energy recovery mode, transmitting the energy recovery torque to the corresponding execution equipment, thereby realizing the energy recovery operation; in the corresponding execution equipment, the controller of the execution equipment can generate a corresponding control instruction according to the energy recovery torque, and control the execution equipment to execute the energy recovery operation, so that the energy recovery efficiency of the vehicle is improved, the smoothness of the vehicle is improved when the whole vehicle is braked and recovered, and the driving feeling is improved.

Drawings

In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an energy recovery system of a new energy vehicle according to an embodiment of the present application;

fig. 2 is a flowchart of an energy recovery method for a new energy vehicle according to an embodiment of the present application;

fig. 3 is a schematic diagram of a current load obtaining process according to an embodiment of the present application;

fig. 4 is a schematic diagram illustrating an energy recovery mode determination process according to an embodiment of the present application;

FIG. 5 is a schematic diagram of an energy recovery torque calculation process according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a calculation adjustment module according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a calculation adjustment module according to an embodiment of the present application;

FIG. 8 is a graphical illustration of a torque recovery calibration curve according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an energy recovery device of a new energy vehicle according to an embodiment of the present application;

fig. 10 is a schematic hardware structure diagram of an on-board controller according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged where appropriate. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein.

The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.

Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise.

It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, items, species, and/or groups thereof.

The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "a, B or C" or "a, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

With the rapid development of new energy automobiles, the market demand is continuously diversified, and the requirement of the market on the endurance mileage is higher and higher. Since the power battery in the new energy automobile is limited by the weight and the volume of the battery, the energy and the energy density of the battery are difficult to be improved in a short period. Under the condition that the power battery is kept unchanged, the energy consumption of the vehicle is reduced, and the key point for improving the endurance mileage is realized. Under the current technical scene, the more general energy consumption reduction modes in the industry mainly comprise the following two modes. Firstly, the energy consumption can be reduced by means of light weight design of the whole vehicle, optimized modeling, wind resistance reduction, popularization and application of low rolling resistance tires, development of high-efficiency electric drive systems (flat wire motors) and the like. However, the above-mentioned energy consumption reduction method has the problems of long development period, high difficulty in large-scale application, increased cost, etc. And secondly, the energy management of the whole vehicle can be realized in a braking energy recovery mode. The recovery of braking energy has become well established as an important means of reducing consumption. In the prior art, most of energy recovery strategies commonly used in the industry define a plurality of gears by a host factory. For example, the three energy recovery grade gears including low, medium and high are included. The host factory can comprehensively consider factors such as safety and the like according to the configuration of the vehicle, and calibrate the recovery torque calibration quantity under each gear. The driver can independently switch each gear according to the driving habit of the driver. The use of this method easily leads to an association of energy recovery with the subjective perception of the individual. There is also a large difference in the amount of power recovered. Different drivers are under same recovery gear, and the impression difference to vehicle load change is great, may lead to retrieving gear selection inconsistent, and then leads to retrieving the electric quantity and have great difference. Therefore, the way of actively switching each gear by the driver is likely to cause the energy recovery efficiency of the vehicle to be uneven, and the problem of low energy recovery efficiency is further caused.

With the intensive research of technologies such as intelligent driving and the like, the recovery torque can be adjusted in real time according to the driving state of the vehicle, and is an advanced energy recovery strategy. The driving state of the vehicle may include a vehicle speed, an Automatic Anti-lock Braking System (ABS), a state of charge (SOC), and the like. This mode of retrieving the moment of torsion is adjusted in real time according to load change can satisfy whole car energy recuperation maximize and compromise the driving sensation simultaneously, satisfy energy recuperation moment of torsion demand under the different loads to effectively solve above-mentioned technical problem.

To realize the dynamic adjustment of the recovered torque, an on-board controller with high calculation capability needs to be arranged in the vehicle. The vehicle-mounted controller is used for acquiring vehicle information from other vision systems, high-precision sensors and other devices. The vehicle-mounted controller can realize the calculation of the recovery torque at the current moment according to the vehicle information, thereby realizing the dynamic adjustment of the recovery torque of the vehicle. In the process, the vehicle-mounted controller can obtain the current load of the vehicle at the current moment through the load monitoring system. The vehicle-mounted controller can also determine the recovery torque calibration quantity under the three load states of full load, half load and no load. The vehicle-mounted controller can calculate the energy recovery torque at the current moment by using an interpolation or proportionality coefficient method according to the current load and the recovery torque calibration quantity. The vehicle-mounted controller can input the energy recovery torque to the execution module to realize energy recovery. The energy recovery mode is realized, so that the real-time adjustment of the energy recovery torque is realized, the driving feeling of a driver is ensured, and the maximum recovery of the braking energy is realized. In addition, the use of the energy recovery mode also cancels the arrangement of a multi-gear energy recovery regulating switch, and reduces the vehicle cost.

The technical means of the present application will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Fig. 1 shows a schematic structural diagram of an energy recovery system of a new energy vehicle provided in an embodiment of the present application. As shown in fig. 1, the energy recovery system may include four parts, namely a load monitoring system, a calculation and adjustment module, a vehicle control module, and a vehicle execution module. The load monitoring system is used for outputting the current load of the new energy vehicle to the calculation and adjustment module. This current load will be used as a variable to calculate the recovered torque at different loads. A plurality of sensors may be included in the load sensing system. Wherein, calculate the vehicle-mounted controller of adjustment module for this new energy vehicle. The calculation adjustment module may obtain the current load sent by the load detection module. The calculation adjusting module can adjust the standard quantity of the recovery torque according to the current load by adopting an interpolation method or a proportionality coefficient method so as to determine the energy recovery torque under the current load. The vehicle control module can generate a corresponding control instruction after acquiring the energy recovery torque calculated by the calculation and adjustment module. The whole vehicle control module can send the control instruction to different execution modules. The whole vehicle control module can be a component of a vehicle-mounted controller of the new energy vehicle. The whole vehicle execution module can comprise a plurality of execution modules such as a motor, a battery and a mechanical braking device. After receiving the control instruction sent by the vehicle control module, different execution modules can execute corresponding energy recovery operation according to the control instruction. The energy recovery operation may include torque output, charging, and the like.

In the present application, the vehicle-mounted controller is used as an execution subject to execute the new energy vehicle energy recovery method according to the following embodiment. Specifically, the execution body may be a hardware device of the vehicle-mounted controller, or a software application implementing the following embodiments in the vehicle-mounted controller, or a computer-readable storage medium installed with the software application implementing the following embodiments, or code of the software application implementing the following embodiments.

Fig. 2 shows a flowchart of a new energy vehicle energy recovery method according to an embodiment of the present application. On the basis of the embodiment shown in fig. 1, as shown in fig. 2, with the vehicle-mounted controller as an execution subject, the method of the embodiment may include the following steps:

s101, vehicle information of the vehicle is obtained, and the vehicle information comprises the current load.

In this embodiment, the vehicle-mounted controller may acquire vehicle information of the vehicle. The vehicle may include a fuel vehicle and a new energy vehicle, among others. The vehicle information at least comprises the current load of the vehicle at the current moment.

In one example, the current load of the vehicle at the current time needs to be calculated according to the suspension information and the tire pressure information, and the current load may specifically include:

step 1, a vehicle-mounted controller can obtain suspension information and tire pressure information of a vehicle. As shown in fig. 3, a data acquisition system may be included in the vehicle. The data acquisition system comprises a suspension module and a tire module. The suspension module is used for acquiring suspension information of the vehicle. The tire module is used for acquiring the tire pressure information of the vehicle. The data acquisition system can acquire suspension information and/or tire pressure information in real time. Alternatively, the data acquisition system may also periodically acquire suspension information and/or tire pressure information. After the data acquisition system completes the acquisition of the suspension information and the tire pressure information, the data acquisition system can send the suspension information and the tire pressure information to the algorithm system. The algorithm may be a computing module in the vehicle controller.

And 2, the vehicle-mounted controller can determine the current load of the vehicle according to the suspension information, the tire pressure information and the load calculation formula. Wherein the load calculation formula can be determined according to the prior art.

In one example, as shown in FIG. 3, a display system may also be included in the vehicle. The display system can display information such as tire pressure information, suspension information and the like acquired by the data acquisition system on an instrument panel or a display screen of a vehicle machine. The display system may also obtain the current load calculated by the algorithm system. The display system can also be arranged on a display screen of an instrument panel or a vehicle machine. The vehicle may also be connected to a remote detection platform. The remote testing platform may be connected to an algorithm system. The remote detection platform can obtain the current load and other calculation results calculated by the algorithm system. The remote detection platform can also be connected with a mobile terminal. The remote detection platform can send the calculation result uploaded to the remote detection platform by the algorithm system to the mobile terminal. The user can view the calculation result in the mobile terminal. The remote detection platform can also process other data acquired from the vehicle according to a preset algorithm to obtain a processing result. The remote detection platform can also send the processing result to the mobile terminal.

In one example, vehicle speed information, accelerator pedal opening, brake pedal opening, ABS state, charge state, and the like may also be included in the vehicle information.

And S102, determining an energy recovery mode and an energy recovery torque of the vehicle according to the vehicle information of the vehicle.

In this embodiment, the on-board controller may determine the energy recovery mode of the vehicle by comparing and determining according to the vehicle information and the determination condition after acquiring the vehicle information of the vehicle. The vehicle-mounted controller can also calculate the energy recovery torque according to the vehicle-mounted information and a preset energy recovery torque calculation formula after the vehicle information of the vehicle is obtained.

In one example, the specific process of the on-board controller determining the energy recovery mode and energy recovery torque of the vehicle may include the steps of:

step 1, the vehicle-mounted controller can determine an energy recovery mode of the vehicle according to at least one of vehicle speed information, accelerator pedal opening, brake pedal opening, ABS state and charge state in the vehicle information.

In this step, the energy recovery mode may specifically include two modes, i.e., sliding energy recovery and braking energy recovery. The determination conditions of the coasting energy recovery mode may include that the opening degree of an accelerator pedal and the opening degree of a brake pedal are both zero, the vehicle speed is greater than or equal to 10km/h, an ABS (antilock brake system) or an Electronic Stability Program (ESP) state is not activated, a power battery is in a chargeable state and is not overcharged, and the vehicle is in a coasting deceleration state. When the vehicle enters a sliding energy recovery mode, the vehicle can realize the full recovery of braking energy by means of the braking of the motor. The determination conditions of the braking energy recovery mode may include that the opening degree of an accelerator pedal is zero, the opening degree of a brake pedal is greater than zero, the vehicle speed is greater than or equal to 10km/h, the ABS or ESP state is not activated, the power battery is in a chargeable state and cannot be overcharged, and the vehicle is in a braking and decelerating state. When the vehicle enters a braking energy recovery mode, the vehicle can realize vehicle deceleration by means of motor braking and mechanical braking. The energy recovery mode determination process may be specifically as shown in fig. 4.

And 11, judging whether the current speed of the vehicle is greater than 0 by the vehicle-mounted controller according to the speed information. If the current speed of the vehicle is greater than 0, the vehicle is in a running state, and subsequent judgment can be continuously carried out. Otherwise, if the current vehicle speed of the vehicle is less than or equal to 0, it indicates that the vehicle is in a stopped state, and the vehicle cannot perform the energy recovery operation. That is, the determination of the energy recovery mode and the energy recovery torque of the vehicle will be ended.

And step 12, determining whether the vehicle is in a driving state or not by the vehicle-mounted controller according to the opening degree of the accelerator pedal. When the accelerator opening of the vehicle at the present time is larger than 0, it is indicated that the vehicle is in a driving state. When the vehicle is in a driving state, the vehicle cannot perform the energy recovery operation. Otherwise, when the opening degree of the accelerator pedal of the vehicle at the current moment is less than or equal to 0, the vehicle is in a non-acceleration state, and subsequent judgment can be continuously performed.

And step 13, the vehicle-mounted controller can judge whether the opening degree of the brake pedal at the current moment is greater than or equal to 0. When the opening degree of the brake pedal is greater than or equal to 0, the vehicle is in a braking state. When the vehicle is in a braking state, the vehicle needs to decelerate. Accordingly, the kinetic energy reduced when the vehicle is decelerated can be recovered, thereby realizing energy recovery. Otherwise, when the opening degree of the brake pedal is smaller than 0, the vehicle is in a constant speed running state. In the constant speed running state, the opening degree of an accelerator pedal of the vehicle is 0, and the opening degree of a brake pedal of the vehicle is 0. When the vehicle is in the uniform speed running state, the vehicle does not perform energy recovery in order to ensure the uniform speed running of the vehicle.

The onboard controller may determine whether the vehicle is performing mechanical braking based on the ABS status, step 14. When the ABS of the vehicle is activated, it indicates that the vehicle is in an emergency braking state. In order to ensure the braking effect of the vehicle, the vehicle needs to activate the mechanical brake. During mechanical braking, the kinetic energy of the vehicle cannot be recovered and converted into electric energy. Therefore, at the time of mechanical braking, the vehicle will not be able to perform energy recovery. Otherwise, when the ABS is not activated, the onboard controller may continue to perform subsequent determinations.

In step 15, the vehicle controller may determine whether the battery of the vehicle is in a chargeable state according to a state of charge (SOC). When the SOC is less than 90, it indicates that the battery of the vehicle is in a chargeable state. Otherwise, when the SOC is greater than or equal to 90, it indicates that the battery capacity of the vehicle is sufficient and charging is not required. When the vehicle does not require charging, the vehicle may effect braking of the vehicle through mechanical braking.

And step 16, the vehicle-mounted controller can determine whether the vehicle can carry out energy recovery or not according to the vehicle speed. When the vehicle speed is greater than or equal to 10km/h, the vehicle can be braked in an energy recovery mode. When the vehicle speed is less than 10km/h, it is indicated that the vehicle speed of the vehicle is already very slow. In this case, energy can be recovered very efficiently by braking by energy recovery. Therefore, when the vehicle speed is less than 10km/h, the vehicle can achieve braking of the vehicle through mechanical braking.

When the controller determines that the vehicle needs to be braked by means of energy recovery, the control may determine an energy recovery mode according to the opening degree of the brake pedal, step 17. When the brake pedal opening is equal to 0, the energy recovery manner may be a coasting energy recovery mode. Otherwise, when the opening degree of the brake pedal is greater than 0, the energy recovery mode may be a brake energy recovery mode.

And 2, determining the recovery torque calibration quantity of the vehicle by the vehicle-mounted controller according to the energy recovery mode of the vehicle.

In this step, the vehicle-mounted controller may store a recovery torque calibration amount of the vehicle. As shown in fig. 5, the recovery torque calibration amount may be calculated by the recovery torque calibration amount calculation module. The recovery torque standard quantity calculation module can calculate the recovery torque standard quantity of the vehicle according to at least one item of vehicle information of accelerator pedal opening, brake pedal opening, ABS state, vehicle speed information, charge state and motor state of a large number of vehicles. The recovery torque calibration amount can be a calibration amount which is universal for multiple vehicles.

The recovered torque calibration quantity specifically comprises 6 energy recovery calibration quantities in a full-load, half-load and no-load state under a coasting energy recovery mode and a braking energy recovery mode. The 6 energy recovery calibration quantities can respectively realize low-intensity, medium-intensity and high-intensity energy recovery levels in two energy recovery modes. The setting of these a plurality of calibration volumes can improve the security and the energy recuperation efficiency that whole car was driven.

And 3, determining the energy recovery torque of the vehicle by the vehicle-mounted controller according to the recovery torque calibration quantity and the current load of the vehicle.

In this step, as shown in fig. 5, the vehicle-mounted controller may obtain the current load of the vehicle at the current moment through the load monitoring system. The vehicle-mounted controller can calculate the energy recovery torque under the current load according to the recovery torque calibration quantity of the vehicle and the current load through an interpolation method or a proportionality coefficient method. The calculation process may be performed by a calculation adjustment module in the onboard controller.

In one implementation, the method for calculating the energy recovery torque by the scaling factor method may be as shown in fig. 6, and specifically includes the following steps:

in step 31, the full load of the vehicle may be stored in the vehicle controller. The vehicle controller may determine the load specific gravity based on a ratio of a current load of the vehicle and a full load of the vehicle. The specific gravity of the load is the recovery coefficient as shown in fig. 6.

The onboard controller may store a full load recovered torque calibration amount for the vehicle, step 32. The vehicle controller may determine the energy recovery torque of the vehicle based on a product of the load specific gravity and the full load recovery torque calibration amount. The calculation formula can be:

energy recovery torque = current load/full load x full load recovery torque calibration quantity

In another implementation, the method for calculating the energy recovery torque by interpolation may be as shown in fig. 7, and specifically includes the following steps:

in step 33, the vehicle-mounted controller may store a full-load recovery torque calibration amount, a half-load recovery torque calibration amount, and an empty-load recovery torque calibration amount of the vehicle. The three recovered torque calibration amounts may be shown as three solid lines in FIG. 8. The vehicle-mounted controller can determine the energy recovery torque of the vehicle according to the current load on the basis of the full-load recovery torque calibration quantity, the half-load recovery torque calibration quantity and the no-load recovery torque calibration quantity by using an interpolation method. For example, when the current load is between no load and half load, the difference may be as shown by the dashed line between no load and half load in fig. 8. When the current load is at one-third of half and full load, the difference may be as shown by the dashed line between half and full load in fig. 8. That is, the vehicle-mounted controller may determine a curve of a difference between the current load at the full-load recovery torque calibration amount, the half-load recovery torque calibration amount, and the no-load recovery torque calibration amount according to the specific gravity of the current load to the no-load, the half-load, and the full load. The vehicle-mounted controller can determine the energy recovery torque at the current moment according to the vehicle speed of the vehicle and the difference curve.

And S103, performing energy recovery operation according to the energy recovery mode and the energy recovery torque of the vehicle.

In this embodiment, the vehicle controller may transmit the energy recovery torque to the corresponding execution device after determining the energy recovery mode, thereby implementing the energy recovery operation. In the corresponding execution device, the controller of the execution device may generate a corresponding control command according to the energy recovery torque, and control the execution device to execute the energy recovery operation. For example, when the energy recovery mode is the coasting energy recovery mode, the vehicle controller may control the motor to brake, thereby achieving full recovery of braking energy. For another example, when the energy recovery mode is the braking energy recovery mode, the vehicle controller may control the motor to perform braking and simultaneously control the mechanical braking device to perform mechanical braking operation, thereby achieving full recovery of braking energy. The vehicle controller may transmit the energy recovery torque to an energy recovery execution module to implement the energy recovery operation after the calculation of the energy recovery torque is completed. In the energy recovery execution module, the energy recovery torque may be input to the motor controller via a vehicle controller (on-board controller). The motor controller can generate a corresponding control command according to the energy recovery torque and control the vehicle to brake.

According to the new energy vehicle energy recovery method, the vehicle-mounted controller can acquire the vehicle information of the vehicle. The on-board controller may determine the energy recovery mode of the vehicle by comparison and judgment based on the vehicle information and the judgment condition. The vehicle-mounted controller can also calculate to obtain the energy recovery torque according to the vehicle-mounted information and a preset energy recovery torque calculation formula. The vehicle controller may transmit the energy recovery torque to the corresponding implement device after determining the energy recovery mode, thereby implementing the energy recovery operation. In a corresponding execution device, the controller of the execution device may generate a corresponding control command according to the energy recovery torque, and control the execution device to execute an energy recovery operation. According to the method and the device, the dynamic calculation of the energy recovery torque is realized according to the vehicle information, so that the energy recovery efficiency of the vehicle is improved. Meanwhile, the use of the energy recovery torque can ensure the smoothness of the vehicle when the whole vehicle is braked and recovered to a great extent, and the driving feeling is improved.

Fig. 9 is a schematic structural diagram of a new energy vehicle energy recovery device according to an embodiment of the present application, and as shown in fig. 9, the new energy vehicle energy recovery device 10 of the present embodiment is used to implement operations corresponding to an on-board controller in any of the method embodiments described above, and the new energy vehicle energy recovery device 10 of the present embodiment includes:

the obtaining module 11 is configured to obtain vehicle information of the vehicle, where the vehicle information includes a current load.

And the processing module 12 is used for determining the energy recovery mode and the energy recovery torque of the vehicle according to the vehicle information of the vehicle. The energy recovery operation is performed according to an energy recovery mode and an energy recovery torque of the vehicle.

Optionally, the processing module 12 is specifically configured to:

and determining the energy recovery mode of the vehicle according to at least one of the vehicle speed information, the accelerator pedal opening, the brake pedal opening, the ABS state and the charge state in the vehicle information.

And determining the recovery torque calibration quantity of the vehicle according to the energy recovery mode of the vehicle.

And determining the energy recovery torque of the vehicle according to the recovery torque calibration quantity and the current load of the vehicle.

Optionally, the processing module 12 is specifically configured to:

the load specific gravity is determined based on the current load of the vehicle and the full load of the vehicle.

Optionally, the processing module 12 is specifically configured to:

Optionally, the obtaining module 11 is specifically configured to:

and acquiring the suspension information and the tire pressure information of the vehicle.

And determining the current load of the vehicle according to the suspension information, the tire pressure information and the load calculation formula.

Optionally, the processing module 12 is further configured to:

and determining the recovery torque calibration quantity of the vehicle according to at least one of the accelerator pedal opening, the brake pedal opening, the ABS state, the vehicle speed information, the charge state and the motor state in the state information.

The energy recovery device 10 for a new energy vehicle provided in the embodiment of the present application may implement the method embodiment, and specific implementation principles and technical effects thereof may refer to the method embodiment, which is not described herein again.

Fig. 10 shows a hardware structure schematic diagram of an on-vehicle controller provided in an embodiment of the present application. As shown in fig. 10, the on-board controller 20 is configured to implement the operations corresponding to the on-board controller in any one of the method embodiments described above, and the on-board controller 20 of the present embodiment may include: memory 21, processor 22 and communication interface 24.

A memory 21 for storing a computer program. The Memory 21 may include a Random Access Memory (RAM), a Non-Volatile Memory (NVM), at least one disk Memory, a usb disk, a removable hard disk, a read-only Memory, a magnetic disk or an optical disk.

And a processor 22 for executing the computer program stored in the memory to implement the new energy vehicle energy recovery method in the above embodiment. Reference may be made in particular to the description relating to the method embodiments described above. The Processor 22 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

Alternatively, the memory 21 may be separate or integrated with the processor 22.

When the memory 21 is a separate device from the processor 22, the onboard controller 20 may also include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The communication interface 24 may be connected to the processor 21 via the bus 23. The communication interface 24 is used for obtaining information from the vehicle-mounted controller and other control devices in the vehicle, or sending information to other control devices.

The vehicle-mounted controller provided in this embodiment can be used to execute the above-mentioned new energy vehicle energy recovery method, and its implementation manner and technical effect are similar, and this embodiment is not described herein again.

The present application further provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used for implementing the methods provided by the above-mentioned various embodiments when being executed by a processor.

The computer readable storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, a computer readable storage medium is coupled to a processor such that the processor can read information from, and write information to, the computer readable storage medium. Of course, the computer readable storage medium may also be integral to the processor. The processor and the computer-readable storage medium may reside in an Application Specific Integrated Circuit (ASIC). Additionally, the ASIC may reside in user equipment. Of course, the processor and the computer-readable storage medium may also reside as discrete components in a communication device.

In particular, the computer-readable storage medium may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random-Access Memory (SRAM), electrically-Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

The present application also provides a computer program product comprising a computer program stored in a computer readable storage medium. The computer program can be read by at least one processor of the device from a computer-readable storage medium, and execution of the computer program by the at least one processor causes the device to implement the methods provided by the various embodiments described above.

Embodiments of the present application further provide a chip, where the chip includes a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device in which the chip is installed executes the method in the above various possible embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Wherein the modules may be physically separated, e.g. mounted at different locations of one device, or mounted on different devices, or distributed over multiple network elements, or distributed over multiple processors. The modules may also be integrated together, for example, in the same device, or in a set of codes. The respective modules may exist in the form of hardware, or may also exist in the form of software, or may also be implemented in the form of software plus hardware. The method and the device can select part or all of the modules according to actual needs to achieve the purpose of the scheme of the embodiment.

When the respective modules are implemented as integrated modules in the form of software functional modules, they may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods according to the embodiments of the present application.

It should be understood that, although the respective steps in the flowcharts in the above-described embodiments are sequentially shown as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: it is also possible to modify the solutions described in the previous embodiments or to substitute some or all of them with equivalents. And the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A new energy vehicle energy recovery method, characterized in that the method comprises:

2. The method according to claim 1, wherein the determining an energy recovery mode and an energy recovery torque of the vehicle from the vehicle information of the vehicle comprises:

3. The method of claim 2, wherein the recovered torque calibration amount comprises a full load recovered torque calibration amount; the determining the energy recovery torque of the vehicle according to the recovery torque calibration amount and the current load of the vehicle specifically includes:

determining a load specific gravity based on said current load of said vehicle and a full load of said vehicle;

4. The method of claim 2, wherein the recovered torque calibration amounts include an unloaded recovered torque calibration amount, a half-loaded recovered torque calibration amount, and a full-loaded recovered torque calibration amount; the determining the energy recovery torque of the vehicle according to the recovery torque calibration amount and the current load of the vehicle specifically includes:

5. The method according to any one of claims 1 to 4, wherein the acquiring vehicle information of the vehicle specifically comprises:

acquiring suspension information and tire pressure information of the vehicle;

6. The method according to any one of claims 1 to 4, characterized in that the method specifically comprises:

and determining the recovery torque calibration quantity of the vehicle according to at least one of the opening degree of an accelerator pedal, the opening degree of a brake pedal, the ABS state, the vehicle speed information, the charge state and the motor state in the vehicle information.

7. An energy recovery device of a new energy vehicle, characterized in that the device comprises:

a processing module for determining an energy recovery mode and an energy recovery torque of the vehicle according to the vehicle information of the vehicle; performing an energy recovery operation according to the energy recovery mode and the energy recovery torque of the vehicle.

8. An onboard controller, comprising: a memory, a processor;

the memory is used for storing a computer program; the processor is configured to implement the new energy vehicle energy recovery method according to any one of claims 1 to 6, according to the computer program stored in the memory.

9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the new energy vehicle energy recovery method according to any one of claims 1 to 6.

10. A computer program product, characterized in that the computer program product comprises a computer program which, when being executed by a processor, carries out the new energy vehicle energy recovery method of any one of claims 1 to 6.