CN116080408B - Control method, equipment and storage medium for sliding energy recovery - Google Patents
Control method, equipment and storage medium for sliding energy recovery Download PDFInfo
- Publication number
- CN116080408B CN116080408B CN202310028715.7A CN202310028715A CN116080408B CN 116080408 B CN116080408 B CN 116080408B CN 202310028715 A CN202310028715 A CN 202310028715A CN 116080408 B CN116080408 B CN 116080408B
- Authority
- CN
- China
- Prior art keywords
- limit value
- torque limit
- vehicle
- value corresponding
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 98
- 230000004913 activation Effects 0.000 claims description 24
- 230000008859 change Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/18—Acceleration lateral
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a control method for recovering sliding energy, which comprises the steps of obtaining state information of a vehicle; when the state information of the vehicle meets the preset condition, acquiring a torque limit value corresponding to the transverse acceleration, a torque limit value corresponding to the yaw rate and a torque limit value corresponding to the dynamic control system of the vehicle according to the state information of the vehicle; obtaining a final torque limit value according to the maximum value of the torque limit value corresponding to the transverse acceleration, the torque limit value corresponding to the yaw rate and the torque limit value corresponding to the vehicle dynamic control system; obtaining a final sliding recovery target value according to the final torque limit value and the maximum value of the sliding recovery target torque of the whole vehicle controller; and controlling the vehicle to conduct coasting energy recovery according to the final coasting recovery target value. The control method, the equipment and the storage medium for recovering the sliding energy can avoid the instability of the vehicle caused by overhigh sliding recovery torque when the vehicle winds round at a high speed, and improve the driving safety.
Description
Technical Field
The application relates to the technical field of electric vehicle energy recovery, in particular to a control method, equipment and storage medium for sliding energy recovery.
Background
With the development of new energy automobiles, consumers have higher and higher requirements on the cruising ability of the automobiles, so that the full recovery of energy in the process of sliding the automobiles becomes an important method for improving the cruising ability of the automobiles. When the electric control system of most new energy automobiles controls the recovery of the sliding energy, only the speed condition is considered, and the output target value of the sliding recovery torque is reduced along with the reduction of the speed. Therefore, the current strategy does not consider the influence of the coasting recovery torque on the steering of the vehicle, such as when the front-end vehicle winds round at a high speed, if the throttle is suddenly released, the vehicle is under-steered due to the sudden intervention of the coasting recovery torque; the phenomenon of oversteering of the rear-drive vehicle occurs under the condition, and the instability of the vehicle is easily caused. Meanwhile, when the vehicle is unstable, the control of an electronic stabilization program can be influenced due to the existence of the coasting recovery torque, and the vehicle cannot be controlled to a stable state through hydraulic braking quickly.
Disclosure of Invention
In order to solve the problems, the invention provides a control method for recovering sliding energy, which can adjust the sliding recovery torque of a vehicle according to the state information of the vehicle when the vehicle is in a high dynamic condition, thereby avoiding instability of the vehicle caused by overhigh sliding recovery torque when the vehicle winds round at a high speed and improving the driving safety.
The invention provides a control method for recovering sliding energy, which comprises the following steps: acquiring state information of a vehicle; when the state information of the vehicle meets the preset condition, acquiring a torque limit value corresponding to the transverse acceleration, a torque limit value corresponding to the yaw rate and a torque limit value corresponding to a vehicle dynamic control system according to the state information of the vehicle; obtaining a final torque limit value according to the maximum value of the torque limit value corresponding to the transverse acceleration, the torque limit value corresponding to the yaw rate and the torque limit value corresponding to the vehicle dynamic control system; obtaining a final sliding recovery target value according to the final torque limit value and the maximum value of the sliding recovery target torque of the whole vehicle controller; and controlling the vehicle to conduct coasting energy recovery according to the final coasting recovery target value.
In one embodiment, the preset conditions include at least one of: the speed of the vehicle is greater than a preset speed value; the lateral acceleration of the vehicle is not in a first preset lateral acceleration interval; the yaw rate of the vehicle is not in the first preset yaw rate interval.
In an embodiment, the obtaining, according to the state information of the vehicle, a torque limit value corresponding to a lateral acceleration, a torque limit value corresponding to a yaw rate, and a torque limit value corresponding to a dynamic control system of the vehicle includes: acquiring absolute values of the lateral acceleration and the yaw rate; when the absolute value of the transverse acceleration is in a second preset transverse acceleration interval, acquiring a torque limit value corresponding to the transverse acceleration according to the absolute value of the transverse acceleration, a change coefficient of the absolute value of the transverse acceleration and the torque limit value corresponding to the transverse acceleration and a preset first calibration value; and when the absolute value of the yaw rate is in a second preset yaw rate interval, acquiring a torque limit value corresponding to the yaw rate according to the absolute value of the yaw rate, a change coefficient of the absolute value of the yaw rate and the torque limit value corresponding to the yaw rate and a preset second calibration value.
In an embodiment, the acquiring the absolute values of the lateral acceleration and the yaw rate includes, after that: when the absolute value of the lateral acceleration is smaller than the minimum value in the second preset lateral acceleration interval, the torque limit value corresponding to the lateral acceleration is a first preset torque limit value; when the absolute value of the transverse acceleration is larger than the maximum value in the second preset transverse acceleration interval, the torque limit value corresponding to the transverse acceleration is a second preset torque limit value; when the absolute value of the yaw rate is smaller than the minimum value in the second preset yaw rate interval, the torque limit value corresponding to the yaw rate is the first preset torque limit value; and when the absolute value of the yaw rate is larger than the maximum value in the second preset yaw rate interval, the torque limit value corresponding to the yaw rate is the second preset torque limit value.
In an embodiment, the obtaining, according to the state information of the vehicle, a torque limit value corresponding to a lateral acceleration, a torque limit value corresponding to a yaw rate, and a torque limit value corresponding to a dynamic control system of the vehicle includes: judging whether the vehicle dynamic control system is in an activated state or not; if yes, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the activation duration time of the vehicle dynamic control system; if not, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the time when the vehicle dynamic control system is out of activation.
In an embodiment, the obtaining, according to the activation duration of the vehicle dynamic control system, a torque limit value corresponding to the vehicle dynamic control system includes: after the vehicle dynamic control system is activated, reducing the torque limit value from the target recovery torque to a third preset torque limit value according to the preset change rate; acquiring a current torque limit value of the vehicle dynamic control system according to the activation duration of the vehicle dynamic control system; and acquiring a torque limit value corresponding to the vehicle dynamic control system based on the current torque limit value of the vehicle dynamic control system.
In an embodiment, the obtaining, according to the time when the vehicle dynamic control system is deactivated, a torque limit value corresponding to the vehicle dynamic control system includes: after the vehicle dynamic control system is out of activation, the torque limiting value is increased from the third preset torque limiting value to the target recovery torque according to the preset change rate; acquiring a current torque limit value of the vehicle dynamic control system according to the time of the vehicle dynamic control system exiting activation; and acquiring a torque limit value corresponding to the vehicle dynamic control system based on the current torque limit value of the vehicle dynamic control system.
The present invention also provides a control apparatus for coasting energy recovery, the control apparatus for coasting energy recovery including a target value determination system, wherein the target value determination system includes: a memory for storing executable program code; and a processor for invoking the executable program code in the memory to effect control of taxi energy recovery: acquiring state information of a vehicle; when the state information of the vehicle meets the preset condition, acquiring a torque limit value corresponding to the transverse acceleration, a torque limit value corresponding to the yaw rate and a torque limit value corresponding to a vehicle dynamic control system according to the state information of the vehicle; obtaining a final torque limit value according to the maximum value of the torque limit value corresponding to the transverse acceleration, the torque limit value corresponding to the yaw rate and the torque limit value corresponding to the vehicle dynamic control system; obtaining a final sliding recovery target value according to the final torque limit value and the maximum value of the sliding recovery target torque of the whole vehicle controller; and sending the final coasting recovery target value to the vehicle dynamic control system.
In an embodiment, the control device for coasting energy recovery comprises: and the whole vehicle controller is used for controlling the vehicle to carry out sliding energy recovery according to the final sliding recovery target value.
The present invention also provides a storage medium storing a computer program which, when executed by a processor, implements the steps of the control method of coasting energy recovery as described above.
According to the control method, the device and the storage medium for recovering the sliding energy, when the vehicle is in a high dynamic condition, the final torque limiting value allowed by the current vehicle is obtained according to the transverse acceleration and the yaw rate of the vehicle and the activation state of the dynamic control system of the vehicle, the sliding recovery target torque sent by the whole vehicle controller is limited according to the final torque limiting value, so that the final sliding recovery target value is obtained, and the vehicle is controlled to recover the sliding energy according to the final sliding recovery target value. When the vehicle is in a high dynamic condition, the sliding recovery torque of the vehicle can be adjusted according to the state information of the vehicle, so that the instability of the vehicle caused by overhigh sliding recovery torque when the vehicle winds round at a high speed is avoided, and the driving safety is improved.
Drawings
FIG. 1 is a flow chart of a control method of coasting energy recovery in an embodiment of the present invention;
FIG. 2 is a diagram illustrating a method for obtaining a torque limit value corresponding to a lateral acceleration according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of obtaining torque limit values corresponding to yaw rate in an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a change in torque limit value corresponding to a vehicle dynamic control system after the vehicle dynamic control system is activated according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a change in torque limit value corresponding to a vehicle dynamics control system after the vehicle dynamics control system is deactivated in an embodiment of the present invention;
fig. 6 is a schematic structural view of a control apparatus for coasting energy recovery in an embodiment of the present invention.
Detailed Description
The foregoing and other features, aspects, and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments, which proceeds with reference to the accompanying drawings. While the invention may be susceptible to further details of embodiments and examples of means and effects for achieving the desired purpose, the drawings are provided for the purpose of reference and illustration only and are not intended to be limiting.
In order to further describe the technical means and effects adopted by the present invention to achieve the preset purpose, the following detailed description of the present invention is given with reference to the accompanying drawings and preferred embodiments.
FIG. 1 is a flow chart of a control method for coasting energy recovery in an embodiment of the present invention.
As shown in fig. 1, the control method for recovering the sliding energy provided in the embodiment includes the following steps:
step S11: status information of the vehicle is acquired.
Specifically, the vehicle speed, the lateral acceleration, the yaw rate and the coasting recovery target torque of the vehicle controller are obtained through a communication bus of the vehicle.
Step S12: and when the state information of the vehicle meets the preset condition, acquiring a torque limit value corresponding to the transverse acceleration, a torque limit value corresponding to the yaw rate and a torque limit value corresponding to a vehicle dynamic control system according to the state information of the vehicle.
Specifically, when the vehicle speed of the vehicle is greater than a vehicle speed preset value, and/or the lateral acceleration of the vehicle is not in a first preset lateral acceleration section, and/or the yaw rate of the vehicle is not in a first preset yaw rate section, the absolute value of the lateral acceleration and the absolute value of the yaw rate are obtained according to the lateral acceleration and the yaw rate of the vehicle, and then the torque limit value corresponding to the lateral acceleration and the torque limit value corresponding to the yaw rate are obtained based on the absolute value of the lateral acceleration and the absolute value of the yaw rate. Wherein the vehicle speed preset value, the first preset yaw rate interval and the first preset lateral acceleration can be set according to parameters of the vehicle.
Specifically, in one embodiment, as shown in FIG. 2, if the absolute value of the lateral acceleration is between 4-6m/s 2 (the second preset lateral acceleration interval), then the following formula is adopted: y=m1x-b 1, wherein y is a torque limit value corresponding to the lateral acceleration, x is an absolute value of the lateral acceleration, m1 is a primary coefficient term (a change coefficient of the absolute value of the lateral acceleration and the torque limit value corresponding to the lateral acceleration), and b1 is a constant term (a preset first calibration value); if the absolute value of the lateral acceleration is lower than 4m/s 2 (the minimum value in the second preset lateral acceleration interval), the torque limit value corresponding to the lateral acceleration is not limited, and at the moment, the torque limit value corresponding to the lateral acceleration is-1000 NM (the first preset torque limit value); if the absolute value of the lateral acceleration is greater than 6m/s 2, the torque limit value corresponding to the lateral acceleration is 0 (second preset torque limit value). The second preset lateral acceleration interval, a change coefficient of a torque limit value corresponding to the absolute value of the lateral acceleration and the lateral acceleration, a preset first calibration value, a first preset torque limit value, a second preset torque limit value and the like can be set according to parameters of the vehicle.
Specifically, in one embodiment, as shown in fig. 3, if the absolute value of the yaw rate is between 6-8 °/s (second preset yaw rate interval), the following formula is adopted: y=m2x—b2, wherein y is a torque limit value corresponding to the yaw rate, x is an absolute value of the yaw rate, m2 is a primary coefficient term (a coefficient of variation of the absolute value of the yaw rate and the torque limit value corresponding to the yaw rate), and b2 is a constant term (a preset second calibration value); if the absolute value of the yaw rate is lower than 6 °/s (the minimum value in the second preset yaw rate section), the torque limit value corresponding to the yaw rate is not limited, and at this time, the torque limit value corresponding to the yaw rate is-1000 NM (the first preset torque limit value); if the absolute value of the yaw rate is greater than 8 °/s, the torque limit value corresponding to the yaw rate is 0 (second preset torque limit value). The second preset yaw rate interval, the change coefficient of the absolute value of the yaw rate and the torque limit value corresponding to the yaw rate, the preset second calibration value, the first preset torque limit value and the second preset torque limit value can be set according to parameters of the vehicle.
Specifically, when the speed of the vehicle is greater than a preset speed value, and/or the lateral acceleration of the vehicle is not in a first preset lateral acceleration interval, and/or the yaw rate of the vehicle is not in a first preset yaw rate interval, judging whether the vehicle dynamic control system is in an activated state, and if the vehicle dynamic control system is in the activated state, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the activation duration of the vehicle dynamic control system; and if the vehicle dynamic control system is not in an activated state, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the time when the vehicle dynamic control system is out of activation.
Specifically, in one embodiment, as shown in fig. 4, after the vehicle dynamic control system is activated, the torque limit value is reduced from the target recovery torque to 0 (a third preset torque limit value) according to the preset change rate, the current torque limit value of the vehicle dynamic control system is obtained according to the activation duration of the vehicle dynamic control system, and the torque limit value corresponding to the vehicle dynamic control system is obtained based on the current torque limit value of the vehicle dynamic control system.
Specifically, in one embodiment, as shown in fig. 5, after the vehicle dynamic control system is deactivated, the torque limit value is raised from 0 (a third preset torque limit value) to the target recovery torque according to the preset change rate, the current torque limit value of the vehicle dynamic control system is obtained according to the time when the vehicle dynamic control system is deactivated, and the torque limit value corresponding to the vehicle dynamic control system is obtained based on the current torque limit value of the vehicle dynamic control system. The preset change rate, the third preset torque limit and the target recovery torque can be set according to parameters of the vehicle.
Step S13: and obtaining a final torque limit value according to the maximum value of the torque limit value corresponding to the transverse acceleration, the torque limit value corresponding to the yaw rate and the torque limit value corresponding to the vehicle dynamic control system.
Specifically, the final torque limit is the minimum recovered torque of the three torque limits. For example, if the torque limit value for the lateral acceleration is-400 NM, the torque limit value for the yaw rate is-200 NM, and the torque limit value for the vehicle dynamics control system is-600 NM, the maximum value (i.e., the minimum recovered torque) -200NM of the three torque limit values is taken as the final torque limit value.
Step S14: and obtaining a final sliding recovery target value according to the final torque limit value and the maximum value of the sliding recovery target torque of the whole vehicle controller.
Specifically, the final coasting recovery target value is the minimum recovery torque of the final torque limit value and the coasting recovery target torque.
Step S15: and controlling the vehicle to conduct coasting energy recovery according to the final coasting recovery target value.
Specifically, the final coasting recovery target value is sent to the whole vehicle controller, and the vehicle is controlled by the whole vehicle controller to recover the coasting energy at the final coasting recovery target value.
According to the control method for the coasting energy recovery, when the vehicle is in a high dynamic condition, the final torque limit value allowed by the current vehicle is obtained according to the transverse acceleration and the yaw rate of the vehicle and the activation state of the dynamic control system of the vehicle, the coasting recovery target torque sent by the whole vehicle controller is limited according to the final torque limit value, so that the final coasting recovery target value is obtained, and the vehicle is controlled to carry out coasting energy recovery according to the final coasting recovery target value. When the vehicle is in a high dynamic condition, the sliding recovery torque of the vehicle can be adjusted according to the state information of the vehicle, so that the instability of the vehicle caused by overhigh sliding recovery torque when the vehicle winds round at a high speed is avoided, and the driving safety is improved.
Fig. 6 is a schematic structural view of a control apparatus for coasting energy recovery in an embodiment of the present invention.
As shown in fig. 6, the control apparatus 100 for coasting energy recovery provided in the present embodiment is used for executing the control method for coasting energy recovery, and the control apparatus 100 for coasting energy recovery provided in the present embodiment includes a target value determination system 120, wherein the target value determination system includes a memory 121 and a processor 122.
Specifically, in the present embodiment, the memory 121 is used to store executable program codes; the processor 122 is configured to invoke executable program code in the memory to implement the steps of the control method of taxi energy recovery: acquiring state information of a vehicle; when the state information of the vehicle meets the preset condition, acquiring a torque limit value corresponding to the transverse acceleration, a torque limit value corresponding to the yaw rate and a torque limit value corresponding to a vehicle dynamic control system according to the state information of the vehicle; obtaining a final torque limit value according to the maximum value of the torque limit value corresponding to the transverse acceleration, the torque limit value corresponding to the yaw rate and the torque limit value corresponding to the vehicle dynamic control system; obtaining a final sliding recovery target value according to the final torque limit value and the maximum value of the sliding recovery target torque of the whole vehicle controller; and sending the final coasting recovery target value to the vehicle dynamic control system.
Specifically, in one embodiment, the processor 122 performs the steps of acquiring a torque limit value corresponding to the lateral acceleration, a torque limit value corresponding to the yaw rate, and a torque limit value corresponding to the vehicle dynamic control system according to the state information of the vehicle, and includes: acquiring absolute values of lateral acceleration and yaw rate; when the absolute value of the transverse acceleration is in a second preset transverse acceleration interval, acquiring a torque limit value corresponding to the transverse acceleration according to the absolute value of the transverse acceleration, a change coefficient of the absolute value of the transverse acceleration and the torque limit value corresponding to the transverse acceleration and a preset first calibration value; and when the absolute value of the yaw rate is in a second preset yaw rate interval, acquiring a torque limit value corresponding to the yaw rate according to the absolute value of the yaw rate, a change coefficient of the absolute value of the yaw rate and the torque limit value corresponding to the yaw rate and a preset second calibration value.
Specifically, in one embodiment, the processor 122 performs the step of acquiring absolute values of the lateral acceleration and the yaw rate, and then includes: when the absolute value of the lateral acceleration is smaller than the minimum value in the second preset lateral acceleration interval, the torque limit value corresponding to the lateral acceleration is a first preset torque limit value; when the absolute value of the lateral acceleration is larger than the maximum value in the second preset lateral acceleration interval, the torque limit value corresponding to the lateral acceleration is the second preset torque limit value; when the absolute value of the yaw rate is smaller than the minimum value in the second preset yaw rate interval, the torque limit value corresponding to the yaw rate is a first preset torque limit value; when the absolute value of the yaw rate is greater than the maximum value in the second preset yaw rate interval, the torque limit value corresponding to the yaw rate is the second preset torque limit value.
Specifically, in one embodiment, the processor 122 performs the steps of acquiring a torque limit value corresponding to the lateral acceleration, a torque limit value corresponding to the yaw rate, and a torque limit value corresponding to the vehicle dynamic control system according to the state information of the vehicle, and includes: judging whether a vehicle dynamic control system is in an activated state or not; if yes, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the activation duration of the vehicle dynamic control system; if not, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the time when the vehicle dynamic control system is out of activation.
Specifically, in one embodiment, the processor 122 performs the step of obtaining the torque limit value corresponding to the vehicle dynamic control system according to the activation duration of the vehicle dynamic control system, including: after the vehicle dynamic control system is activated, reducing the torque limit value from the target recovery torque to a third preset torque limit value according to the preset change rate; acquiring a current torque limit value of the vehicle dynamic control system according to the activation duration of the vehicle dynamic control system; and acquiring a torque limit value corresponding to the vehicle dynamic control system based on the current torque limit value of the vehicle dynamic control system.
Specifically, in one embodiment, the processor 122 performs the step of obtaining the torque limit value corresponding to the vehicle dynamic control system according to the time when the vehicle dynamic control system is deactivated, and includes: after the vehicle dynamic control system is out of activation, the torque limiting value is increased from a third preset torque limiting value to a target recovery torque according to a preset change rate; acquiring a current torque limit value of the vehicle dynamic control system according to the time of the vehicle dynamic control system exiting activation; and acquiring a torque limit value corresponding to the vehicle dynamic control system based on the current torque limit value of the vehicle dynamic control system.
Specifically, the control apparatus 100 for coasting energy recovery provided in the present embodiment includes a vehicle controller 110, where the vehicle controller 110 is configured to control the vehicle to perform coasting energy recovery according to a final coasting recovery target value.
In this embodiment, for the specific process of implementing the respective functions of the functional units of the control device 100 for recovering the coasting energy, please refer to the specific contents described in the embodiments shown in fig. 1 to 5, which are not described herein.
The present invention also provides a storage medium storing a computer program which, when executed by a processor, implements the steps of the control method of coasting energy recovery as described above.
According to the control method, the device and the storage medium for recovering the sliding energy, when the vehicle is in a high dynamic condition, the final torque limiting value allowed by the current vehicle is obtained according to the transverse acceleration and the yaw rate of the vehicle and the activation state of the dynamic control system of the vehicle, the sliding recovery target torque sent by the whole vehicle controller is limited according to the final torque limiting value, so that the final sliding recovery target value is obtained, and the vehicle is controlled to recover the sliding energy according to the final sliding recovery target value. When the vehicle is in a high dynamic condition, the sliding recovery torque of the vehicle can be adjusted according to the state information of the vehicle, so that the instability of the vehicle caused by overhigh sliding recovery torque when the vehicle winds round at a high speed is avoided, and the driving safety is improved.
The present invention is not limited to the above embodiments, but is capable of modification and variation in all aspects, including the following description, but not limited to, embodiments, and various modifications and adaptations of the invention as come within the true spirit and scope of the invention.
Claims (9)
1. A method of controlling coasting energy recovery, the method comprising:
acquiring state information of a vehicle;
when the state information of the vehicle meets the preset condition, acquiring a torque limit value corresponding to the transverse acceleration, a torque limit value corresponding to the yaw rate and a torque limit value corresponding to a vehicle dynamic control system according to the state information of the vehicle;
obtaining a final torque limit value according to the maximum value of the torque limit value corresponding to the transverse acceleration, the torque limit value corresponding to the yaw rate and the torque limit value corresponding to the vehicle dynamic control system;
obtaining a final sliding recovery target value according to the final torque limit value and the maximum value of the sliding recovery target torque of the whole vehicle controller;
controlling the vehicle to conduct sliding energy recovery according to the final sliding recovery target value;
wherein the preset condition includes at least one of a vehicle speed of the vehicle being greater than a vehicle speed preset value, a lateral acceleration of the vehicle not being in a first preset lateral acceleration interval, and a yaw rate of the vehicle not being in a first preset yaw rate interval.
2. The control method for coasting energy recovery according to claim 1, wherein the obtaining of the torque limit value corresponding to the lateral acceleration, the torque limit value corresponding to the yaw rate, and the torque limit value corresponding to the vehicle dynamic control system according to the state information of the vehicle includes:
acquiring absolute values of the lateral acceleration and the yaw rate;
when the absolute value of the transverse acceleration is in a second preset transverse acceleration interval, acquiring a torque limit value corresponding to the transverse acceleration according to the absolute value of the transverse acceleration, a change coefficient of the absolute value of the transverse acceleration and the torque limit value corresponding to the transverse acceleration and a preset first calibration value;
and when the absolute value of the yaw rate is in a second preset yaw rate interval, acquiring a torque limit value corresponding to the yaw rate according to the absolute value of the yaw rate, a change coefficient of the absolute value of the yaw rate and the torque limit value corresponding to the yaw rate and a preset second calibration value.
3. The control method of coasting energy recovery according to claim 2, characterized in that the acquiring absolute values of the lateral acceleration and the yaw rate, thereafter, includes:
when the absolute value of the lateral acceleration is smaller than the minimum value in the second preset lateral acceleration interval, the torque limit value corresponding to the lateral acceleration is a first preset torque limit value;
when the absolute value of the transverse acceleration is larger than the maximum value in the second preset transverse acceleration interval, the torque limit value corresponding to the transverse acceleration is a second preset torque limit value;
when the absolute value of the yaw rate is smaller than the minimum value in the second preset yaw rate interval, the torque limit value corresponding to the yaw rate is the first preset torque limit value;
and when the absolute value of the yaw rate is larger than the maximum value in the second preset yaw rate interval, the torque limit value corresponding to the yaw rate is the second preset torque limit value.
4. The control method for coasting energy recovery according to claim 1, wherein the obtaining of the torque limit value corresponding to the lateral acceleration, the torque limit value corresponding to the yaw rate, and the torque limit value corresponding to the vehicle dynamic control system according to the state information of the vehicle includes:
judging whether the vehicle dynamic control system is in an activated state or not;
if yes, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the activation duration time of the vehicle dynamic control system;
if not, acquiring a torque limit value corresponding to the vehicle dynamic control system according to the time when the vehicle dynamic control system is out of activation.
5. The method for controlling coasting energy recovery of claim 4, wherein the obtaining a torque limit value corresponding to the vehicle dynamic control system according to an activation duration of the vehicle dynamic control system comprises:
after the vehicle dynamic control system is activated, reducing the torque limit value from the target recovery torque to a third preset torque limit value according to the preset change rate;
acquiring a current torque limit value of the vehicle dynamic control system according to the activation duration of the vehicle dynamic control system;
and acquiring a torque limit value corresponding to the vehicle dynamic control system based on the current torque limit value of the vehicle dynamic control system.
6. The method for controlling coasting energy recovery of claim 4, wherein the obtaining a torque limit value corresponding to the vehicle dynamics control system based on a time at which the vehicle dynamics control system is deactivated comprises:
after the vehicle dynamic control system is out of activation, the torque limiting value is increased from a third preset torque limiting value to the target recovery torque according to the preset change rate;
acquiring a current torque limit value of the vehicle dynamic control system according to the time of the vehicle dynamic control system exiting activation;
and acquiring a torque limit value corresponding to the vehicle dynamic control system based on the current torque limit value of the vehicle dynamic control system.
7. A control apparatus for coasting energy recovery, characterized in that the control apparatus for coasting energy recovery comprises a target value determination system, wherein the target value determination system comprises:
a memory for storing executable program code; and
a processor for invoking said executable program code in said memory to effect the step of controlling taxi energy recovery:
acquiring state information of a vehicle;
when the state information of the vehicle meets the preset condition, acquiring a torque limit value corresponding to the transverse acceleration, a torque limit value corresponding to the yaw rate and a torque limit value corresponding to a vehicle dynamic control system according to the state information of the vehicle;
obtaining a final torque limit value according to the maximum value of the torque limit value corresponding to the transverse acceleration, the torque limit value corresponding to the yaw rate and the torque limit value corresponding to the vehicle dynamic control system;
obtaining a final sliding recovery target value according to the final torque limit value and the maximum value of the sliding recovery target torque of the whole vehicle controller;
transmitting the final coasting recovery target value to the vehicle dynamic control system;
wherein the preset condition includes at least one of a vehicle speed of the vehicle being greater than a vehicle speed preset value, a lateral acceleration of the vehicle not being in a first preset lateral acceleration interval, and a yaw rate of the vehicle not being in a first preset yaw rate interval.
8. The coasting energy recovery control device of claim 7, wherein the coasting energy recovery control device comprises:
and the whole vehicle controller is used for controlling the vehicle to carry out sliding energy recovery according to the final sliding recovery target value.
9. A storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the control method of coasting energy recovery according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310028715.7A CN116080408B (en) | 2023-01-09 | 2023-01-09 | Control method, equipment and storage medium for sliding energy recovery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310028715.7A CN116080408B (en) | 2023-01-09 | 2023-01-09 | Control method, equipment and storage medium for sliding energy recovery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116080408A CN116080408A (en) | 2023-05-09 |
| CN116080408B true CN116080408B (en) | 2024-03-26 |
Family
ID=86213431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310028715.7A Active CN116080408B (en) | 2023-01-09 | 2023-01-09 | Control method, equipment and storage medium for sliding energy recovery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116080408B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006046093A1 (en) * | 2006-09-28 | 2008-04-03 | Volkswagen Ag | Brake system and method for braking a vehicle with a hybrid drive |
| JP2012026514A (en) * | 2010-07-23 | 2012-02-09 | Nissan Motor Co Ltd | Differential limiting control device during regenerative braking for electrically-propelled vehicle |
| CN104309489A (en) * | 2014-09-27 | 2015-01-28 | 奇瑞汽车股份有限公司 | System and method for controlling regenerative brake device of electric vehicle |
| KR20160044650A (en) * | 2014-10-15 | 2016-04-26 | 현대모비스 주식회사 | Assist torque compensating apparatus and method for vehicle |
| JP2018030582A (en) * | 2017-10-06 | 2018-03-01 | 日立オートモティブシステムズ株式会社 | Motion control device of vehicle and motion control program |
| JP2019123305A (en) * | 2018-01-15 | 2019-07-25 | マツダ株式会社 | Control device for vehicle |
| CN110696791A (en) * | 2019-11-21 | 2020-01-17 | 安徽江淮汽车集团股份有限公司 | Electric vehicle energy recovery control method, device, equipment and storage medium |
| CN112238860A (en) * | 2020-12-10 | 2021-01-19 | 上海拿森汽车电子有限公司 | Identification method, identification device and computer readable storage medium |
| CN112249004A (en) * | 2020-12-21 | 2021-01-22 | 上海拿森汽车电子有限公司 | Control method, control device and computer readable storage medium |
| CN112776608A (en) * | 2019-11-08 | 2021-05-11 | 罗伯特·博世有限公司 | Coasting energy recovery control system and coasting energy recovery control method |
| WO2021197441A1 (en) * | 2020-04-02 | 2021-10-07 | 长城汽车股份有限公司 | Energy recovery control method and system, and vehicle |
| CN115431788A (en) * | 2022-06-08 | 2022-12-06 | 北京罗克维尔斯科技有限公司 | Vehicle energy recovery torque distribution method and device, electronic equipment and storage medium |
-
2023
- 2023-01-09 CN CN202310028715.7A patent/CN116080408B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006046093A1 (en) * | 2006-09-28 | 2008-04-03 | Volkswagen Ag | Brake system and method for braking a vehicle with a hybrid drive |
| JP2012026514A (en) * | 2010-07-23 | 2012-02-09 | Nissan Motor Co Ltd | Differential limiting control device during regenerative braking for electrically-propelled vehicle |
| CN104309489A (en) * | 2014-09-27 | 2015-01-28 | 奇瑞汽车股份有限公司 | System and method for controlling regenerative brake device of electric vehicle |
| KR20160044650A (en) * | 2014-10-15 | 2016-04-26 | 현대모비스 주식회사 | Assist torque compensating apparatus and method for vehicle |
| JP2018030582A (en) * | 2017-10-06 | 2018-03-01 | 日立オートモティブシステムズ株式会社 | Motion control device of vehicle and motion control program |
| JP2019123305A (en) * | 2018-01-15 | 2019-07-25 | マツダ株式会社 | Control device for vehicle |
| CN112776608A (en) * | 2019-11-08 | 2021-05-11 | 罗伯特·博世有限公司 | Coasting energy recovery control system and coasting energy recovery control method |
| CN110696791A (en) * | 2019-11-21 | 2020-01-17 | 安徽江淮汽车集团股份有限公司 | Electric vehicle energy recovery control method, device, equipment and storage medium |
| WO2021197441A1 (en) * | 2020-04-02 | 2021-10-07 | 长城汽车股份有限公司 | Energy recovery control method and system, and vehicle |
| CN112238860A (en) * | 2020-12-10 | 2021-01-19 | 上海拿森汽车电子有限公司 | Identification method, identification device and computer readable storage medium |
| CN112249004A (en) * | 2020-12-21 | 2021-01-22 | 上海拿森汽车电子有限公司 | Control method, control device and computer readable storage medium |
| CN115431788A (en) * | 2022-06-08 | 2022-12-06 | 北京罗克维尔斯科技有限公司 | Vehicle energy recovery torque distribution method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116080408A (en) | 2023-05-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8862358B2 (en) | Vehicle and method for controlling regenerative braking | |
| US20210269018A1 (en) | Vehicle stability control method and device | |
| US7949454B2 (en) | Driving dynamics control system having an expanded braking function | |
| CN111196269B (en) | Vehicle operation control method and device and computer readable storage medium | |
| US20070139255A1 (en) | Driving assistance method for a vehicle | |
| CN107640231B (en) | Method for controlling vehicle ascent | |
| WO2021169609A1 (en) | Torque control method and device for vehicle | |
| JP2006298209A (en) | Vehicle roll increase trend determination device and vehicle motion stabilization controller using the same | |
| US20120022758A1 (en) | Yaw rate control with simultaneous maximum deceleration | |
| CN109552307B (en) | Safety control method, device and system based on motor torque | |
| CN116080408B (en) | Control method, equipment and storage medium for sliding energy recovery | |
| CN113428152A (en) | Vehicle control method, device and computer readable storage medium | |
| US8818667B2 (en) | Method for producing a differential torque acting on the vehicle wheels of a vehicle | |
| JP2009173085A (en) | Vehicle torque control apparatus | |
| US9604610B2 (en) | Method for setting a limiting value of a vehicle state variable in the event of an accident | |
| US20210270333A1 (en) | Vehicle control system | |
| CN116323347A (en) | Method and control device for setting an operating point of a slip control for a wheel of a vehicle | |
| CN113002619A (en) | Apparatus and method for controlling steering of rear wheels | |
| CN116198504A (en) | Control method and device for coasting recovery torque, storage medium and vehicle | |
| WO2023279263A1 (en) | Vehicle and tailer connection detection method therefor, and a computer storage medium | |
| CN112677712B (en) | Vehicle control method, system and computer storage medium | |
| CN114801780B (en) | Driving anti-slip control method and device based on front-drive pure electric vehicle | |
| JP7496896B2 (en) | Method for determining brake pressure changes | |
| JP2019041553A (en) | Vehicle control device, vehicle control system and vehicle control method | |
| CN117141462A (en) | Vehicle control method and device, electronic equipment and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |