CN115782602A - Electric vehicle energy recovery control method and device and electric vehicle - Google Patents
Electric vehicle energy recovery control method and device and electric vehicle Download PDFInfo
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Abstract
The invention relates to the field of electric vehicles, and provides an electric vehicle energy recovery control method, an electric vehicle energy recovery control device and an electric vehicle, wherein the method comprises the following steps: determining an energy recovery mode of the electric vehicle based on the first control instruction during the coasting process of the electric vehicle; if the energy recovery mode is the manual mode, acquiring a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle; if the energy recovery mode is the constant speed mode, acquiring a required torque based on the target speed and the running parameter data of the electric vehicle; a torque request command is generated to the motor controller based on the requested torque and/or a deceleration request command is generated to the electronic brake controller. The invention can effectively meet the deceleration requirement of operators in different energy recovery modes, realizes the full recovery of braking energy, reduces the operation load of the operators and improves the safety and comfort of driving.
Description
Technical Field
The invention relates to the technical field of electric vehicles, in particular to an electric vehicle energy recovery control method and device and an electric vehicle.
Background
The energy consumption level of the whole electric automobile becomes one of the most concerned performance indexes at present, the self friction resistance of a braking system accounts for most in the deceleration process of the automobile, if the part of energy is utilized to be reused for driving, the energy consumption of the automobile can be greatly reduced, and an energy recovery system plays the role. How to fully utilize an energy recovery system and recover energy to the maximum without influencing driving safety and comfort is a technical problem to be solved urgently at present.
In the existing energy recovery control method, when an operator has a deceleration intention, the operator usually steps on a brake pedal to brake, and the brake pedal is difficult to meet the expected deceleration of the operator in different energy recovery modes, so that the brake energy cannot be fully recovered, and the operator frequently operates the brake pedal, so that the operation load of the operator is increased, and the safety and the comfort of driving cannot be ensured.
Disclosure of Invention
The invention provides an electric vehicle energy recovery control method and device and an electric vehicle, aiming at the problems in the prior art.
The invention provides an electric vehicle energy recovery control method, which comprises the following steps:
determining an energy recovery mode of an electric vehicle based on a first control command during coasting of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
if the energy recovery mode is the manual mode, acquiring a required torque based on a target energy recovery grade of the electric vehicle and driving parameter data of the electric vehicle;
if the energy recovery mode is a constant speed mode, acquiring the required torque based on the target speed of the electric vehicle and the running parameter data;
a torque request command is generated and sent to the motor controller and/or a deceleration request command is generated and sent to the electronic brake controller based on the required torque.
According to an energy recovery control method of an electric vehicle provided by the present invention, the acquiring a required torque based on a target energy recovery level of the electric vehicle and running parameter data of the electric vehicle includes:
determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and obtaining a current deceleration of the electric vehicle based on the running parameter data;
acquiring a required braking force based on a difference value between the target deceleration and the current deceleration;
the required torque is acquired based on the required braking force.
According to an electric vehicle energy recovery control method provided by the present invention, the determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle includes:
and determining the deceleration corresponding to the target energy recovery level as the target deceleration based on the corresponding relation between the preset energy recovery level and the deceleration.
According to the energy recovery control method for the electric vehicle provided by the invention, the target energy recovery level is obtained by the following method:
when the constant-speed cruise function of the electric vehicle is determined not to be started based on the first control instruction sent by the constant-speed cruise control device of the electric vehicle, if a second control instruction sent by the constant-speed cruise control device is received, the target energy recovery level is determined based on the second control instruction; and if the second control instruction is not received, taking a preset energy recovery level as the target energy recovery level.
According to the electric vehicle energy recovery control method provided by the present invention, the acquiring the required torque based on the target vehicle speed of the electric vehicle and the running parameter data includes:
determining a current driving condition of the electric vehicle based on the driving parameter data;
and if the current running working condition is a downhill working condition, acquiring the required torque by a PID control method based on the current speed of the electric vehicle and the target speed.
According to the electric vehicle energy recovery control method provided by the invention, the generating of the torque request command to the motor controller and/or the generating of the deceleration request command to the electronic brake controller based on the required torque comprises the following steps:
if the energy recovery of the electric vehicle is normal, determining a first distributable torque corresponding to a motor and a second distributable torque corresponding to an electronic brake based on the available torque and the required torque of the motor, generating a torque request command based on the first distributable torque and sending the torque request command to the motor controller, and generating a deceleration request command based on a first deceleration corresponding to the second distributable torque and sending the deceleration request command to the electronic brake controller;
and if the energy recovery of the electric vehicle is failed, generating the deceleration request command based on a second deceleration corresponding to the required torque and sending the deceleration request command to the electronic brake controller.
According to the energy recovery control method for the electric vehicle provided by the invention, the determining a first distributable torque corresponding to the motor and a second distributable torque corresponding to the electronic brake based on the available torque and the required torque of the motor comprises the following steps:
regarding the required torque as the first assignable torque when the available torque is greater than or equal to the required torque based on a comparison result of the available torque and the required torque; when the available torque is smaller than the required torque, the available torque is used as the first distributable torque, and the difference between the required torque and the available torque is used as the second distributable torque.
The present invention also provides an electric vehicle energy recovery control device, including:
the first data processing module is used for determining an energy recovery mode of the electric vehicle based on a first control instruction during the process of sliding of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
the second data processing module is used for acquiring a required torque based on a target energy recovery grade of the electric vehicle and running parameter data of the electric vehicle if the energy recovery mode is a manual mode;
the third data processing module is used for acquiring the required torque based on the target speed of the electric vehicle and the running parameter data if the energy recovery mode is the constant speed mode;
and the fourth data processing module is used for generating a torque request command to be sent to the motor controller and/or generating a deceleration request command to be sent to the electronic brake controller based on the required torque.
The present invention also provides an electric vehicle including: the electric vehicle energy recovery control device described above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the electric vehicle energy recovery control method as described in any of the above.
According to the electric vehicle energy recovery control method and device and the electric vehicle, in the sliding process of the electric vehicle, the energy recovery mode of the electric vehicle is determined based on the first control instruction, if the energy recovery mode is the manual mode, the required torque is obtained based on the target energy recovery grade of the electric vehicle and the driving parameter data of the electric vehicle, if the energy recovery mode is the constant speed mode, the required torque is obtained based on the target vehicle speed and the driving parameter data of the electric vehicle, and an operator does not need to step on a brake pedal in the whole process, so that the operation load of the operator is effectively reduced, and the safety and the comfort of driving are improved; in addition, after the required torque is acquired, a torque request command is generated and sent to the motor controller and/or a deceleration request command is generated and sent to the electronic brake controller based on the required torque, so that the deceleration requirement of an operator can be effectively met under different energy recovery modes, and the sufficient recovery of the brake energy is realized.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, 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 flow chart of an electric vehicle energy recovery control method provided by the present invention;
FIG. 2 is a schematic flow chart of the present invention for obtaining a requested torque based on a target energy recovery level of an electric vehicle and driving parameter data of the electric vehicle;
FIG. 3 is a schematic flow chart of the present invention for obtaining a torque demand based on a target vehicle speed and driving parameter data of an electric vehicle;
FIG. 4 is a schematic structural diagram of an energy recovery control device for an electric vehicle according to the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
The energy recovery control method of the electric vehicle of the invention is described below with reference to fig. 1 to 3. The energy recovery control method of the electric vehicle is executed by electronic equipment such as a controller or hardware and/or software in the electronic equipment, and the controller can be a controller of the electric vehicle, such as a whole vehicle controller, and can also be a newly added controller. As shown in fig. 1, the electric vehicle energy recovery control method of the present invention at least includes:
s101, in the process of sliding of the electric vehicle, determining an energy recovery mode of the electric vehicle based on a first control instruction; wherein the energy recovery mode comprises a manual mode and a constant speed mode.
And S102, if the energy recovery mode is the manual mode, acquiring a required torque based on a target energy recovery level of the electric vehicle and running parameter data of the electric vehicle.
And S103, if the energy recovery mode is the constant speed mode, acquiring the required torque based on the target speed of the electric vehicle and the running parameter data.
And S104, generating a torque request command to be sent to the motor controller and/or generating a deceleration request command to be sent to the electronic brake controller based on the required torque.
In the present embodiment, an electric vehicle such as an electric passenger vehicle or an electric commercial vehicle such as an electric working machine, for example, an electric excavator or an electric crane, is provided. The electric vehicle is in a sliding process, namely a running state after an operator releases an accelerator pedal in the running process of the electric vehicle. The first control instruction is used for controlling an energy recovery mode of the electric vehicle, and the energy recovery mode can comprise a manual mode and a constant speed mode; the manual mode is a mode that when the electric vehicle does not start the constant-speed cruise function, the energy recovery grade of the electric vehicle is manually controlled by an operator; the constant speed mode is a mode for automatically controlling the electric vehicle to recover energy through the controller when the electric vehicle starts a constant speed cruising function. The first control command may be sent from a cruise control device of the electric vehicle to the vehicle control unit, for example, when the cruise control device is used by an operator to activate a cruise control function, the current energy recovery mode is determined as the cruise control mode, and when the cruise control device is not activated by the operator, the current energy recovery mode is determined as the manual mode.
When it is determined that the energy recovery mode of the electric vehicle is the manual mode according to the first control instruction, the required torque may be acquired based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle in a case where the energy recovery condition is satisfied, for example, the vehicle speed of the electric vehicle reaches a first preset vehicle speed and the battery power is less than a preset power. The required torque is torque that the motor needs to output when the target deceleration/target vehicle speed of the electric vehicle is satisfied. The target energy recovery level of the electric vehicle may be determined according to actual requirements, for example, the target energy recovery level may be input by an operator, may be set in advance by the system, or may be automatically determined according to the current driving condition of the electric vehicle. The traveling parameter data of the electric vehicle may include a current vehicle speed of the electric vehicle, a current torque of the motor, a gradient of a current traveling road of the electric vehicle, and the like.
When the energy recovery mode of the electric vehicle is determined to be the constant speed mode according to the first control command, the required torque may be acquired based on the target vehicle speed of the electric vehicle and the driving parameter data of the electric vehicle. The target speed of the electric vehicle can be set through a constant-speed cruise control device, and can also be automatically determined according to the current running condition of the electric vehicle.
After the required torque is obtained, a torque request instruction and/or a deceleration request instruction can be generated based on the required torque, the torque request instruction is sent to the motor controller, the deceleration request instruction is sent to the electronic brake controller, the motor controller controls the motor to output torque according to the torque request instruction, the electronic brake controller controls the electronic brake to work according to the deceleration request instruction, the deceleration requirements of operators can be effectively met in different energy recovery modes through cooperative work of the motor and the electronic brake, and the sufficient recovery of braking energy is achieved.
In the existing energy recovery control method, when an operator intends to decelerate, the operator usually steps on a brake pedal to brake, and the brake pedal is difficult to meet the expected deceleration of the operator in different energy recovery modes, so that the brake energy cannot be fully recovered, and the operator frequently operates the brake pedal, so that the operation load of the operator is increased, and the safety and the comfort of driving cannot be ensured.
In the embodiment, in the sliding process of the electric vehicle, an energy recovery mode of the electric vehicle is determined based on a first control instruction, if the energy recovery mode is a manual mode, a required torque is obtained based on a target energy recovery grade of the electric vehicle and driving parameter data of the electric vehicle, if the energy recovery mode is a constant speed mode, a required torque is obtained based on a target vehicle speed and the driving parameter data of the electric vehicle, and an operator does not need to step on a brake pedal in the whole process, so that the operation load of the operator is effectively reduced, and the safety and the comfort of driving are improved; in addition, after the required torque is acquired, a torque request command is generated and sent to the motor controller and/or a deceleration request command is generated and sent to the electronic brake controller based on the required torque, so that the deceleration requirement of an operator can be effectively met under different energy recovery modes, and the sufficient recovery of the brake energy is realized.
In an exemplary embodiment, as shown in fig. 2, the acquiring the required torque based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle includes:
s201, determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and acquiring a current deceleration of the electric vehicle based on the running parameter data.
S202, acquiring the required braking force based on the difference value between the target deceleration and the current deceleration.
And S203, acquiring the required torque based on the required braking force.
In this embodiment, the target deceleration is a deceleration at the target energy recovery level of the electric vehicle, and a specific manner of determining the target deceleration of the electric vehicle based on the target energy recovery level of the electric vehicle may be set according to actual requirements, for example, the target energy recovery level may be matched based on a corresponding relationship between the energy recovery level and the deceleration to obtain the target deceleration, or the target deceleration may be determined according to the target energy recovery level and the current driving condition of the electric vehicle, for example, corresponding relationships between the energy recovery level and the deceleration under different driving conditions may be preset to determine a target corresponding relationship among the corresponding relationships based on the current driving condition, and the target energy recovery level may be matched based on the target corresponding relationship to obtain the target deceleration.
The concrete manner of acquiring the current deceleration of the electric vehicle based on the running parameter data may be set according to actual demand, for example, in the case where a deceleration sensor is provided on the electric vehicle, the current deceleration in the running parameter data may be directly acquired; in the case where the deceleration sensor is not provided on the electric vehicle, it is possible to calculate the current load of the electric vehicle by the vehicle longitudinal dynamics equation based on the current vehicle speed of the electric vehicle, the current torque of the motor, and the gradient of the current travel road of the electric vehicle in the travel parameter data, and calculate the current deceleration of the electric vehicle based on the current load and the current torque of the electric vehicle.
After the target deceleration and the current deceleration of the electric vehicle are obtained, the required braking force may be obtained based on the difference between the target deceleration and the current load of the electric vehicle, and the required torque may be obtained based on the required braking force, so that the deceleration demand of the operator can be satisfied even when the load or deceleration of the electric vehicle changes. The required braking force is the braking force required to be output by the electric vehicle when the current deceleration is reduced to the target deceleration, the required torque can be obtained by calculating through a vehicle longitudinal dynamics equation based on the required braking force, and the required braking force can also be matched according to the corresponding relation between the braking force and the torque of the electric vehicle so as to obtain the required torque.
In an exemplary embodiment, the determining a target deceleration of the electric vehicle based on the target energy recovery level of the electric vehicle includes:
and determining the deceleration corresponding to the target energy recovery level as the target deceleration based on the corresponding relation between the preset energy recovery level and the deceleration.
In this embodiment, the correspondence between the energy recovery level and the deceleration may be predetermined, and may be stored in the form of a mapping table or a graph, so as to be called in real time during the energy recovery process.
In practical applications, the target energy recovery level may be matched based on the correspondence between the preset energy recovery level and the deceleration to obtain the deceleration corresponding to the target energy recovery level, and the deceleration is used as the target deceleration, so that the target deceleration of the electric vehicle can be determined quickly and accurately according to the target energy recovery level.
The conventional method cannot consider the situation that a large deceleration is needed at a low vehicle speed by setting different decelerations for different vehicle speed intervals, so that the deceleration requirement cannot be met. In addition, when the existing method cannot meet the deceleration requirement, an operator needs to step on the brake pedal to participate in deceleration, energy is wasted, and great influence is caused on the safety and comfort of driving when the operator emergently brakes through the brake pedal.
The target deceleration is determined according to the corresponding relation between the preset energy recovery grade and the deceleration, the required torque is determined according to the difference value between the target deceleration and the current deceleration, when the current speed of the electric vehicle is any value, the deceleration requirement can be effectively met, and energy waste and influence on driving safety and comfort caused by the fact that an operator steps on a brake pedal to participate in deceleration when the deceleration requirement cannot be met are avoided.
In an exemplary embodiment, the target energy recovery level is obtained by:
when the constant-speed cruise function of the electric vehicle is determined not to be started based on the first control instruction sent by the constant-speed cruise control device of the electric vehicle, if a second control instruction sent by the constant-speed cruise control device is received, the target energy recovery level is determined based on the second control instruction; and if the second control instruction is not received, taking a preset energy recovery level as the target energy recovery level.
In this embodiment, the first control instruction and the second control instruction may be sent by a constant-speed cruise control device of the electric vehicle, so as to determine whether the constant-speed cruise function of the electric vehicle is on according to the first control instruction, further determine an energy recovery mode of the electric vehicle, and determine a target vehicle speed and a target energy recovery level according to the second control instruction.
In practical application, an operator can start the cruise control function through an 'ON' key in the cruise control device to send a first control command to a controller of the electric vehicle. The operator can send a second control instruction to the controller of the electric vehicle through a 'Set +' key and a 'Set-' key in the constant-speed cruise control device, wherein when the constant-speed cruise function is started, the controller can determine the target vehicle speed according to the second control instruction, and when the constant-speed cruise function is not started, the controller can determine the target energy recovery level according to the second control instruction.
When the cruise control function is not started and a second control instruction sent by the cruise control device is not received, the energy recovery level preset in the system can be used as the target energy recovery level, for example, an operator can autonomously set a default value of the energy recovery level, such as level 2, through the central control screen, and when the operator steps on the accelerator pedal to quit energy recovery, the energy recovery level automatically returns to the default value.
The embodiment realizes the reuse of the constant-speed cruise control device, does not need to additionally add other energy recovery control devices on the electric vehicle, and greatly reduces the cost and the manufacturing complexity of the electric vehicle; meanwhile, an operator can actively adjust the energy recovery grade according to actual requirements, so that the effect of vehicle deceleration can be realized under the condition that the operator does not operate the brake pedal, and the tire and mechanical brake device overheating caused by long-time operation of the brake pedal is avoided while the energy is fully recovered.
In an exemplary embodiment, as shown in fig. 3, the acquiring the required torque based on the target vehicle speed of the electric vehicle and the running parameter data includes:
s301, determining the current running condition of the electric vehicle based on the running parameter data.
And S302, if the current running working condition is a downhill working condition, acquiring the required torque by a PID (proportional integral derivative) control method based on the current speed of the electric vehicle and the target speed.
In this embodiment, when the energy recovery mode is determined to be the constant speed mode, the current driving condition of the electric vehicle may be determined based on the driving parameter data of the electric vehicle, and the current driving condition may include an uphill condition, a downhill condition, and a flat ground condition. The current driving condition of the electric vehicle can be determined based on the gradient of the current driving road of the electric vehicle in the driving parameter data, for example, when the gradient of the current driving road is between a first preset value and a second preset value, the current driving condition is a flat ground condition, when the gradient of the current driving road is less than or equal to the first preset value, the current driving condition is a downhill condition, and when the gradient of the current driving road is greater than or equal to the second preset value, the current driving condition is an uphill condition; the second preset value is larger than the first preset value, and the first preset value and the second preset value can be set according to the precision requirement.
When the constant-speed cruising function of the electric vehicle is started, if the current running working condition is an uphill working condition or a flat ground working condition, energy recovery is not needed. If the current running working condition is a downhill working condition, the required torque is determined based on the current vehicle speed and the target vehicle speed of the electric vehicle, for example, the current vehicle speed of the electric vehicle and the target vehicle speed of the electric vehicle can be input to the PID controller, so that the required torque is automatically output through the PID controller, thereby fully recovering the braking energy while ensuring the constant-speed running of the electric vehicle, and a driver does not need to operate an accelerator pedal and a brake pedal in the whole process, thereby reducing the operation load of operators and improving the driving comfort. When the constant-speed mode exit condition is met, the constant-speed mode is automatically exited, for example, the constant-speed cruise function is turned off, the speed of the electric vehicle is reduced below a second preset speed (for example, 25 km/h), and the operator depresses the brake pedal.
In an exemplary embodiment, said generating a torque request command to send to the motor controller and/or generating a deceleration request command to send to the electronic brake controller based on said requested torque comprises:
if the energy recovery of the electric vehicle is normal, determining a first distributable torque corresponding to a motor and a second distributable torque corresponding to an electronic brake based on the available torque and the required torque of the motor, generating a torque request command based on the first distributable torque and sending the torque request command to the motor controller, and generating a deceleration request command based on a first deceleration corresponding to the second distributable torque and sending the deceleration request command to the electronic brake controller;
and if the energy recovery of the electric vehicle is failed, generating the deceleration request command based on a second deceleration corresponding to the required torque and sending the deceleration request command to the electronic brake controller.
In this embodiment, the energy recovery function may perform fault diagnosis by using a fault diagnosis system of the electric vehicle, and send a fault diagnosis result to the controller through the CAN bus, and the controller may determine whether the energy recovery of the electric vehicle is normal or invalid according to the fault diagnosis result.
If the energy recovery of the electric vehicle is normal, the first distributable torque of the motor and the second distributable torque of the electronic brake can be determined based on the available torque and the required torque of the motor. The available torque of the Motor CAN be detected by a MCU (Motor Control Unit) and transmitted to the controller through a CAN bus. When the available torque is smaller than the required torque, the available torque is used as the first distributable torque, and the difference value between the required torque and the available torque is used as the second distributable torque, so that the deceleration requirement can be effectively met while the braking energy is recovered to the maximum extent; the ratio of the first distributable torque and the second distributable torque can be determined by taking the first distributable torque less than or equal to the available torque as a constraint, so that the first distributable torque and the second distributable torque can be flexibly distributed according to requirements.
After the first distributable torque and the second distributable torque are obtained, a torque request command can be generated and sent to the motor controller based on the first distributable torque, and a deceleration request command can be generated and sent to the electronic brake controller based on a first deceleration corresponding to the second distributable torque. The first deceleration corresponding to the second distributable torque may be determined according to the corresponding relationship between the torque and the deceleration, or the first deceleration may be calculated according to the second distributable torque, for example, the braking force corresponding to the second distributable torque may be calculated by a vehicle longitudinal dynamic equation, and the first deceleration may be calculated according to the braking force and the current load of the electric vehicle.
If the electric vehicle energy recovery is invalid, a deceleration request command can be generated based on a second deceleration corresponding to the required torque, and the deceleration request command is sent to the electronic brake controller, namely, when the electric vehicle energy recovery is invalid, the electronic brake is controlled to rapidly intervene and reach the second deceleration, so that the torque failure compensation is carried out through the electronic brake, the vehicle out of control caused by the motor braking torque failure can be avoided, and the driving safety is ensured. Wherein the deceleration request command is automatically exited when the operator depresses the accelerator pedal or reaches a preset time threshold. It can be understood that when detecting that the energy recovery of the electric vehicle is invalid, the electric vehicle can also prompt an operator to control the vehicle speed through a brake pedal, for example, the operator can display "the energy recovery is invalid and please step on the brake pedal to brake" through an interactive device such as an instrument, so as to avoid the occurrence of the situation that the vehicle speed cannot be controlled, and ensure the driving safety to the maximum extent.
In an exemplary embodiment, the determining a first distributable torque corresponding to the motor and a second distributable torque corresponding to the electronic brake based on the available torque and the required torque of the motor includes:
regarding the required torque as the first assignable torque when the available torque is greater than or equal to the required torque based on a comparison result of the available torque and the required torque; when the available torque is smaller than the required torque, the available torque is used as the first distributable torque, and the difference between the required torque and the available torque is used as the second distributable torque.
In this embodiment, after the required torque is obtained, the required torque may be compared with the available torque of the motor, and when the available torque is greater than or equal to the required torque, the required torque is used as the first distributable torque, and the second distributable torque is zero, that is, when the motor can meet the deceleration requirement, the braking energy is recovered to the maximum extent only by braking the motor; when the available torque is smaller than the required torque, the available torque is used as a first distributable torque, and the difference value between the required torque and the available torque is used as a second distributable torque, namely, when the deceleration requirement cannot be met by the motor, the deceleration requirement which cannot be met by the motor is compensated through the electronic brake, so that the deceleration requirement can be effectively met while the braking energy is recovered to the maximum extent.
The following describes an electric vehicle energy recovery control device provided by the present invention, and the electric vehicle energy recovery control device described below and the electric vehicle energy recovery control method described above may be referred to in correspondence with each other. As shown in fig. 4, the electric vehicle energy recovery control apparatus of the present invention includes at least:
the first data processing module 401 is used for determining an energy recovery mode of the electric vehicle based on a first control instruction during the process of coasting of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
a second data processing module 402, configured to, if the energy recovery mode is the manual mode, obtain a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;
a third data processing module 403, configured to, if the energy recovery mode is a constant speed mode, obtain the required torque based on a target vehicle speed of the electric vehicle and the driving parameter data;
a fourth data processing module 404 for generating a torque request command to the motor controller and/or a deceleration request command to the electronic brake controller based on the requested torque.
In an exemplary embodiment, the second data processing module 402 is specifically configured to:
determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and acquiring a current deceleration of the electric vehicle based on the running parameter data;
acquiring a required braking force based on a difference value between the target deceleration and the current deceleration;
the required torque is acquired based on the required braking force.
In an exemplary embodiment, the second data processing module 402 is specifically configured to:
and determining the deceleration corresponding to the target energy recovery level as the target deceleration based on the corresponding relation between the preset energy recovery level and the deceleration.
In an exemplary embodiment, the system further comprises a fifth data processing module, wherein the fifth data processing module is configured to:
when the constant-speed cruise function of the electric vehicle is determined not to be started based on the first control instruction sent by the constant-speed cruise control device of the electric vehicle, if a second control instruction sent by the constant-speed cruise control device is received, the target energy recovery level is determined based on the second control instruction; and if the second control instruction is not received, taking a preset energy recovery level as the target energy recovery level.
In an exemplary embodiment, the third data processing module 403 is specifically configured to:
determining a current driving condition of the electric vehicle based on the driving parameter data;
and if the current running working condition is a downhill working condition, acquiring the required torque by a PID control method based on the current speed of the electric vehicle and the target speed.
In an exemplary embodiment, the fourth data processing module 404 is specifically configured to:
if the energy recovery of the electric vehicle is normal, determining a first distributable torque corresponding to a motor and a second distributable torque corresponding to an electronic brake based on the available torque and the required torque of the motor, generating a torque request command based on the first distributable torque and sending the torque request command to the motor controller, and generating a deceleration request command based on a first deceleration corresponding to the second distributable torque and sending the deceleration request command to the electronic brake controller;
and if the energy recovery of the electric vehicle is failed, generating the deceleration request command based on a second deceleration corresponding to the required torque and sending the deceleration request command to the electronic brake controller.
In an exemplary embodiment, the fourth data processing module 404 is specifically configured to:
regarding the required torque as the first assignable torque when the available torque is greater than or equal to the required torque based on a comparison result of the available torque and the required torque; when the available torque is smaller than the required torque, the available torque is used as the first distributable torque, and the difference between the required torque and the available torque is used as the second distributable torque.
The invention also provides an electric vehicle which comprises the energy recovery control device of the electric vehicle.
In this embodiment, the electric vehicle is a vehicle with a constant-speed cruise function, such as an electric passenger vehicle and an electric commercial vehicle, and the electric commercial vehicle is an electric working machine, such as an electric excavator and an electric crane.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor) 501, a communication Interface (Communications Interface) 502, a memory (memory) 503, and a communication bus 504, wherein the processor 501, the communication Interface 502, and the memory 503 are configured to communicate with each other via the communication bus 504. The processor 501 may invoke logic instructions in the memory 503 to perform an electric vehicle energy recovery control method comprising: determining an energy recovery mode of an electric vehicle based on a first control command during coasting of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
if the energy recovery mode is the manual mode, acquiring a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;
if the energy recovery mode is a constant speed mode, acquiring the required torque based on the target speed of the electric vehicle and the running parameter data;
generating a torque request command to the motor controller and/or generating a deceleration request command to the electronic brake controller based on the requested torque.
In addition, the logic instructions in the memory 503 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for controlling energy recovery of an electric vehicle provided by the above methods, the method comprising: determining an energy recovery mode of an electric vehicle based on a first control command during coasting of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
if the energy recovery mode is the manual mode, acquiring a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;
if the energy recovery mode is a constant speed mode, acquiring the required torque based on the target speed of the electric vehicle and the running parameter data;
a torque request command is generated and sent to the motor controller and/or a deceleration request command is generated and sent to the electronic brake controller based on the required torque.
In still another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the above-provided electric vehicle energy recovery control method, the method including: determining an energy recovery mode of an electric vehicle based on a first control command during coasting of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
if the energy recovery mode is the manual mode, acquiring a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;
if the energy recovery mode is a constant speed mode, acquiring the required torque based on the target speed of the electric vehicle and the running parameter data;
generating a torque request command to the motor controller and/or generating a deceleration request command to the electronic brake controller based on the requested torque.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An electric vehicle energy recovery control method characterized by comprising:
determining an energy recovery mode of an electric vehicle based on a first control command during coasting of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
if the energy recovery mode is the manual mode, acquiring a required torque based on a target energy recovery level of the electric vehicle and driving parameter data of the electric vehicle;
if the energy recovery mode is a constant speed mode, acquiring the required torque based on the target speed of the electric vehicle and the running parameter data;
generating a torque request command to the motor controller and/or generating a deceleration request command to the electronic brake controller based on the requested torque.
2. The electric vehicle energy recovery control method according to claim 1, wherein the obtaining of the required torque based on the target energy recovery level of the electric vehicle and the driving parameter data of the electric vehicle includes:
determining a target deceleration of the electric vehicle based on a target energy recovery level of the electric vehicle, and acquiring a current deceleration of the electric vehicle based on the running parameter data;
acquiring a required braking force based on a difference value between the target deceleration and the current deceleration;
the required torque is acquired based on the required braking force.
3. The electric vehicle energy recovery control method of claim 2, wherein the determining a target deceleration of the electric vehicle based on the target energy recovery level of the electric vehicle comprises:
and determining the deceleration corresponding to the target energy recovery level as the target deceleration based on the corresponding relation between the preset energy recovery level and the deceleration.
4. The electric vehicle energy recovery control method according to claim 1, characterized in that the target energy recovery level is obtained by:
when the constant-speed cruise function of the electric vehicle is determined not to be started based on the first control instruction sent by the constant-speed cruise control device of the electric vehicle, if a second control instruction sent by the constant-speed cruise control device is received, the target energy recovery level is determined based on the second control instruction; and if the second control instruction is not received, taking a preset energy recovery level as the target energy recovery level.
5. The electric vehicle energy recovery control method according to claim 1, wherein the acquiring the required torque based on the target vehicle speed of the electric vehicle and the running parameter data includes:
determining a current driving condition of the electric vehicle based on the driving parameter data;
and if the current running working condition is a downhill working condition, acquiring the required torque by a PID control method based on the current speed of the electric vehicle and the target speed.
6. The electric vehicle energy recovery control method according to any one of claims 1 to 5, wherein generating a torque request command to send to a motor controller and/or generating a deceleration request command to send to an electronic brake controller based on the required torque includes:
if the energy recovery of the electric vehicle is normal, determining a first distributable torque corresponding to a motor and a second distributable torque corresponding to an electronic brake based on the available torque and the required torque of the motor, generating a torque request command based on the first distributable torque and sending the torque request command to the motor controller, and generating a deceleration request command based on a first deceleration corresponding to the second distributable torque and sending the deceleration request command to the electronic brake controller;
and if the energy recovery of the electric vehicle is failed, generating the deceleration request command based on a second deceleration corresponding to the required torque and sending the deceleration request command to the electronic brake controller.
7. The electric vehicle energy recovery control method according to claim 6, wherein the determining a first distributable torque corresponding to the motor and a second distributable torque corresponding to an electronic brake based on the available torque and the required torque of the motor includes:
regarding the required torque as the first assignable torque when the available torque is greater than or equal to the required torque based on a comparison result of the available torque and the required torque; and when the available torque is smaller than the required torque, using the available torque as the first distributable torque, and using the difference value of the required torque and the available torque as the second distributable torque.
8. An electric vehicle energy recovery control device, characterized by comprising:
the first data processing module is used for determining an energy recovery mode of the electric vehicle based on a first control instruction during the process of sliding of the electric vehicle; wherein the energy recovery mode comprises a manual mode and a constant speed mode;
the second data processing module is used for acquiring a required torque based on a target energy recovery level of the electric vehicle and the running parameter data of the electric vehicle if the energy recovery mode is the manual mode;
the third data processing module is used for acquiring the required torque based on the target speed of the electric vehicle and the running parameter data if the energy recovery mode is the constant speed mode;
and the fourth data processing module is used for generating a torque request command to be sent to the motor controller and/or generating a deceleration request command to be sent to the electronic brake controller based on the required torque.
9. An electric vehicle, characterized by comprising: the electric vehicle energy recovery control device of claim 8.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the electric vehicle energy recovery control method according to any one of claims 1 to 7 when executing the program.
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