CN117341493A

CN117341493A - Method, device, equipment and storage medium for recovering vehicle sliding energy

Info

Publication number: CN117341493A
Application number: CN202311487931.4A
Authority: CN
Inventors: 徐涛; 王良傅; 曾浩; 聂相虹; 蒋平
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-11-08
Filing date: 2023-11-08
Publication date: 2024-01-05

Abstract

The application discloses a method, a device, equipment and a storage medium for recovering vehicle sliding energy, wherein the method comprises the following steps: under the condition that a vehicle is in a downhill sliding state, if a front obstacle is detected to exist in a lane where the vehicle is located, acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle; performing energy recovery of the vehicle according to a vehicle speed of the vehicle and a distance between the vehicle and the forward obstacle when an acceleration of the vehicle is greater than or equal to a first acceleration threshold; and when the acceleration of the vehicle is smaller than a first acceleration threshold value, recovering energy of the vehicle according to the distance between the vehicle and the front obstacle. By adopting the method, the vehicle is prevented from frequently entering or exiting the energy recovery mode, so that the energy conversion loss is large, and meanwhile, the phenomenon that the driver has bad driving feeling due to frequent deceleration is avoided.

Description

Method, device, equipment and storage medium for recovering vehicle sliding energy

Technical Field

The present disclosure relates to the field of vehicle energy recovery technologies, and in particular, to a method, an apparatus, a device, and a storage medium for vehicle sliding energy recovery.

Background

With the continuous development of science and technology, the sliding energy recovery of the electric vehicle is paid special attention to, and the running mileage of the electric vehicle and the driving experience of a driver are directly influenced by the quality of the sliding energy recovery. The coasting energy recovery mode of the electric vehicle generally refers to that the electric vehicle recovers coasting energy during coasting when both the accelerator pedal and the brake pedal are in a released state. At this time, the whole vehicle controller (Vehicle Control Unit, VCU) of the electric vehicle transmits reverse motor recovery torque to the motor controller (Motor Control Unit, MCU), the MCU controls the motor to generate electricity and stores the generated electricity in the vehicle-mounted battery while generating a force opposite to the driving direction, so that the electric vehicle is decelerated during the coasting energy recovery. In the current sliding energy recovery scheme, whether the sliding energy recovery mode is started or not often depends on the speed of the electric vehicle and/or the distance between the electric vehicle and the vehicle ahead, and the acceleration of the vehicle is not combined for comprehensive judgment, so that the vehicle frequently enters or exits the energy recovery mode, the energy conversion loss is larger, and meanwhile, the frequent deceleration brings bad driving feeling to a driver.

Disclosure of Invention

In view of the foregoing, embodiments of the present application provide a method, apparatus, device, and storage medium for vehicle coasting energy recovery.

The technical scheme of the embodiment of the application is realized as follows:

in a first aspect, embodiments of the present application provide a method of vehicle coasting energy recovery, the method comprising: under the condition that a vehicle is in a downhill sliding state, if a front obstacle is detected to exist in a lane where the vehicle is located, acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle; performing energy recovery of the vehicle according to a vehicle speed of the vehicle and a distance between the vehicle and the forward obstacle when an acceleration of the vehicle is greater than or equal to a first acceleration threshold; and when the acceleration of the vehicle is smaller than a first acceleration threshold value, recovering energy of the vehicle according to the distance between the vehicle and the front obstacle.

According to the technical means, firstly, under the condition that the vehicle is in a downhill sliding state, if the front obstacle exists in a lane where the vehicle is located, acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle; then, in a case where the acceleration of the vehicle is greater than or equal to the first acceleration threshold value, energy recovery of the vehicle is performed according to the vehicle speed of the vehicle and the distance between the vehicle and the obstacle ahead; finally, when the acceleration of the vehicle is less than the first acceleration threshold, the energy recovery of the vehicle is performed according to the distance between the vehicle and the obstacle ahead. Therefore, by setting the threshold value for the acceleration of the vehicle, under the condition that the acceleration of the vehicle is in different threshold value ranges, the vehicle speed and/or the distance between the vehicle and the front obstacle are combined to determine whether to recover the energy of the vehicle, so that the problem of large energy conversion loss caused by frequent entering or exiting of the vehicle into the energy recovery mode is avoided, and meanwhile, bad driving feeling caused by frequent deceleration to a driver is also avoided.

In some embodiments, the energy recovery of the vehicle according to the vehicle speed and the distance between the vehicle and the forward obstacle when the acceleration of the vehicle is greater than or equal to a first acceleration threshold value comprises: energy recovery is performed on the vehicle when the vehicle speed of the vehicle is greater than or equal to a first vehicle speed threshold; and when the vehicle speed is less than a first vehicle speed threshold, recovering energy of the vehicle according to the distance between the vehicle and the front obstacle.

According to the technical means, when the vehicle is in a downhill sliding state, the acceleration of the vehicle is greater than or equal to a first acceleration threshold value, and the speed of the vehicle is greater than or equal to a first speed threshold value, energy recovery is performed on the vehicle; and when the vehicle is in a downhill sliding state, the acceleration of the vehicle is larger than or equal to a first acceleration threshold value, and the speed of the vehicle is smaller than the first speed threshold value, the energy recovery of the vehicle is carried out according to the distance between the vehicle and the front obstacle. Therefore, when the vehicle is in a downhill sliding state and the acceleration of the vehicle is greater than or equal to the first acceleration threshold value, the vehicle is subjected to energy recovery through the speed of the vehicle and/or the distance between the vehicle and the front obstacle, so that on one hand, potential safety hazards caused by overspeed of the vehicle or discomfort caused by abrupt increase of the speed of the vehicle to passengers are avoided, and on the other hand, potential safety hazards caused by collision when the distance between the vehicle and the front obstacle is relatively short are avoided.

In some embodiments, the energy recovery of the vehicle according to a distance between the vehicle and the forward obstacle in a case where a speed of the vehicle is less than a first vehicle speed threshold comprises: determining a magnitude relationship between a distance between the vehicle and the forward obstacle and a first distance threshold when a speed of the vehicle is less than a first vehicle speed threshold; energy recovery is performed on the vehicle if a distance between the vehicle and the forward obstacle is less than a first distance threshold; in the event that the distance between the vehicle and the forward obstacle is greater than or equal to a first distance threshold, no energy recovery is performed on the vehicle.

According to the technical means, when the vehicle is in a downhill sliding state, the acceleration of the vehicle is greater than or equal to a first acceleration threshold value, and the speed of the vehicle is less than the first speed threshold value, the magnitude relation between the distance between the vehicle and the obstacle ahead and the first distance threshold value is determined; in the case that the distance between the vehicle and the front obstacle is smaller than a first distance threshold, recovering energy from the vehicle; in the case where the distance between the vehicle and the obstacle ahead is greater than or equal to the first distance threshold, no energy recovery is performed on the vehicle. In this way, when the vehicle is in a downhill sliding state, the acceleration of the vehicle is greater than or equal to a first acceleration threshold value, and the speed of the vehicle is smaller than a first speed threshold value, whether the vehicle is subjected to energy recovery or not is determined through the magnitude relation between the distance between the vehicle and the front obstacle and the first distance threshold value, so that the potential safety hazard of collision when the distance between the vehicle and the front obstacle is relatively close is avoided.

In some embodiments, the energy recovery of the vehicle according to a distance between the vehicle and the forward obstacle in the event that the acceleration of the vehicle is less than a first acceleration threshold comprises: determining a magnitude relationship between a distance between the vehicle and the forward obstacle and a second distance threshold if an acceleration of the vehicle is less than a first acceleration threshold; energy recovery is performed on the vehicle if a distance between the vehicle and the forward obstacle is less than a second distance threshold; in the event that the distance between the vehicle and the forward obstacle is greater than or equal to a second distance threshold, no energy recovery is performed on the vehicle.

According to the technical means, under the condition that the vehicle is in a downhill sliding state and the acceleration of the vehicle is smaller than a first acceleration threshold value, determining the magnitude relation between the distance between the vehicle and the front obstacle and a second distance threshold value; in the case that the distance between the vehicle and the obstacle ahead is smaller than a second distance threshold value, recovering energy from the vehicle; in the case where the distance between the vehicle and the obstacle ahead is greater than or equal to the second distance threshold, no energy recovery is performed on the vehicle. Therefore, under the condition that the vehicle is in a downhill sliding state and the acceleration of the vehicle is smaller than a first acceleration threshold value, whether the vehicle is subjected to energy recovery or not is determined through the magnitude relation between the distance between the vehicle and the front obstacle and a second distance threshold value, and the potential safety hazard of collision when the distance between the vehicle and the front obstacle is relatively close is avoided.

In some embodiments, when the vehicle is in a downhill sliding state, before acquiring the speed of the vehicle, the acceleration of the vehicle, and the distance between the vehicle and the front obstacle if the front obstacle is detected in the lane where the vehicle is located, the method further includes: acquiring a brake pedal signal and an accelerator pedal signal of the vehicle; under the condition that the brake pedal signal and the accelerator pedal signal represent that a vehicle enters a sliding mode, acquiring a first vehicle speed of the vehicle at the current moment; and determining that the vehicle is in a downhill sliding state when the speed of the vehicle maintains the first speed or the time exceeding the first speed is greater than a first time threshold.

According to the technical means, firstly, a brake pedal signal and an accelerator pedal signal of a vehicle are obtained, and whether the vehicle is in a sliding state or not is judged through the brake pedal signal and the accelerator pedal signal; secondly, under the condition that a brake pedal signal and an accelerator pedal signal represent that the vehicle enters a sliding mode, acquiring a first vehicle speed of the vehicle at the current moment; the vehicle is determined to be in a downhill coasting state if the vehicle speed of the vehicle maintains the first vehicle speed or the time to exceed the first vehicle speed is greater than a first time threshold. In this way, in the case where it is determined that the vehicle is in the downhill coasting state, it is convenient to determine whether to recover energy from the vehicle by the acceleration of the vehicle, the vehicle speed of the vehicle, and the distance between the vehicle and the obstacle ahead.

In some embodiments, when the vehicle is in a downhill sliding state, before acquiring the speed of the vehicle, the acceleration of the vehicle, and the distance between the vehicle and the front obstacle if the front obstacle is detected in the lane where the vehicle is located, the method further includes: acquiring a brake pedal signal and an accelerator pedal signal of the vehicle; acquiring a gradient signal of a lane where a vehicle is located under the condition that the brake pedal signal and the accelerator pedal signal represent that the vehicle enters a sliding mode; and determining that the vehicle is in a downhill coasting state based on the gradient signal.

According to the technical means, firstly, a brake pedal signal and an accelerator pedal signal of a vehicle are obtained, and whether the vehicle is in a sliding mode is judged through the brake pedal signal and the accelerator pedal signal; secondly, under the condition that the brake pedal signal and the accelerator pedal signal represent that the vehicle enters a sliding mode, acquiring a gradient signal of a lane where the vehicle is located; and finally, when the gradient signal of the lane where the vehicle is located is a downhill signal, determining that the vehicle is in a downhill sliding state. In this way, in the case where it is determined that the vehicle is in the downhill coasting state, it is convenient to determine whether to recover energy from the vehicle by the acceleration of the vehicle, the vehicle speed of the vehicle, and the distance between the vehicle and the obstacle ahead.

In some embodiments, the energy recovery of the vehicle comprises: acquiring the speed of the front obstacle; determining a target deceleration of the vehicle based on a distance between the vehicle and the forward obstacle, a vehicle speed of the vehicle, and a speed of the forward obstacle; and controlling the motor of the vehicle to enter a generator mode for energy recovery based on the target deceleration.

According to the technical means, firstly, the speed of a front obstacle is obtained and is used as a basis for determining the target deceleration of the vehicle subsequently; secondly, determining a target deceleration of the vehicle based on the distance between the vehicle and the front obstacle, the speed of the vehicle and the speed of the front obstacle, and taking the target deceleration as a basis for subsequently controlling the vehicle to recover energy; finally, the motor of the vehicle is controlled to be changed from the motor mode to the generator mode according to the target deceleration of the vehicle, thereby realizing energy recovery of the vehicle.

In a second aspect, embodiments of the present application provide a vehicle coasting energy recovery device, the device comprising: the first acquisition module is used for acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle if the front obstacle exists in the lane where the vehicle is located under the condition that the vehicle is in a downhill sliding state; a first energy recovery module that, when the acceleration of the vehicle is greater than or equal to a first acceleration threshold, recovers energy of the vehicle according to the vehicle speed of the vehicle and the distance between the vehicle and the obstacle ahead; and the second energy recovery module is used for recovering the energy of the vehicle according to the distance between the vehicle and the front obstacle when the acceleration of the vehicle is smaller than a first acceleration threshold value.

In a third aspect, embodiments of the present application provide an apparatus for vehicle coasting energy recovery, comprising a processor and a memory: the memory is used for storing a computer program; the processor is configured to execute a computer program stored in the memory to implement the vehicle coasting energy recovery method.

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the method for recovering the vehicle sliding energy is implemented.

The beneficial effects of this application:

according to the method for recovering the sliding energy of the vehicle, the threshold value is set for the acceleration of the vehicle, and under the condition that the acceleration of the vehicle is in different threshold value ranges, the speed of the vehicle and/or the distance between the vehicle and the obstacle in front are combined to determine whether to recover the energy of the vehicle, so that the problem that the energy conversion loss is large due to the fact that the vehicle frequently enters or exits from an energy recovery mode is avoided, and meanwhile, the problem that the driver has bad driving feeling due to frequent deceleration is also avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the aspects of the present application.

Drawings

In the drawings (which are not necessarily drawn to scale), like numerals may describe similar components in different views. Like reference numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example and not by way of limitation, various embodiments discussed herein.

Fig. 1 is a schematic implementation flow chart of a method for recovering energy during vehicle sliding according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of another method for recovering energy during vehicle coasting according to an embodiment of the present application;

FIG. 3 is a schematic logic flow diagram of a vehicle entering a coasting mode according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural view of a vehicle coasting energy recovery device according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a vehicle coasting energy recovery device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following drawings will describe the present application in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are intended to fall within the scope of the present application.

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the specific embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail so as not to obscure the application; that is, not all features of an actual implementation are described in detail herein, and well-known functions and constructions are not described in detail.

In the drawings, the size of layers, regions, elements and their relative sizes may be exaggerated for clarity. Like numbers refer to like elements throughout.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The technical and scientific terms used herein have been used for the purpose of describing embodiments of the present application only and are not limiting of the present application.

Prior to describing the embodiments of the present application, prior art solutions are described, in which the vehicle energy recovery can be divided into two types, braking energy recovery and coasting energy recovery. The coasting energy recovery refers to that under the coasting working condition of the vehicle, namely under the condition that an accelerator pedal and a brake pedal are released, a motor mode is changed into a generator mode, and the motor charges a vehicle-mounted battery by executing a reverse motor recovery torque command, so that the energy recovery under the coasting working condition is realized, and meanwhile, the vehicle is decelerated. In the current sliding energy recovery scheme, whether the sliding energy recovery mode is started or not often depends on the speed of the vehicle and/or the distance between the vehicle and the vehicle in front of the vehicle, and the vehicle is frequently entered or exited from the energy recovery mode due to the fact that the vehicle is not comprehensively judged by combining the acceleration of the vehicle, so that energy conversion loss is large, and meanwhile, bad driving feeling is brought to a driver due to frequent deceleration.

The embodiment of the application provides a method, a device, equipment and a medium for recovering energy of vehicle sliding, wherein a threshold value is set for acceleration of a vehicle, and in the case that the acceleration of the vehicle is in different threshold value ranges, whether the vehicle is subjected to energy recovery or not is determined by combining the speed of the vehicle and/or the distance between the vehicle and a front obstacle, so that frequent entering or exiting of the vehicle into an energy recovery mode is avoided, energy conversion loss is larger, and meanwhile, bad driving feeling caused by frequent deceleration to a driver is avoided.

The method for recovering the sliding energy of the vehicle provided by the application, as shown in fig. 1, comprises the following steps S101 to S103:

step S101, if a front obstacle exists in a lane where a vehicle is located under the condition that the vehicle is in a downhill sliding state, acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle;

here, the case where the vehicle is in a downhill coasting state refers to a case where there is a downhill angle in a lane where the vehicle is located, and both the accelerator pedal and the brake pedal of the vehicle are not depressed. The forward obstacle may be any object, such as a moving object, e.g. a running vehicle, or a stationary object, e.g. a vehicle standing on a road or other stationary road pile, etc.

And under the condition that the vehicle is in downhill sliding, acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle, and conveniently comparing the speed threshold value of the vehicle, the acceleration threshold value of the vehicle and the distance threshold value between the vehicle and the front obstacle with each other, so as to further determine whether to recycle the sliding energy of the vehicle. In the implementation, the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the obstacle in front may be obtained in any detection mode, for example, the speed of the vehicle may be detected by a speed sensor, the acceleration of the vehicle may be detected by an acceleration sensor, or the acceleration of the vehicle may be obtained by calculation through the change of the speed of the vehicle, and the distance between the vehicle and the obstacle in front may be detected by a radar detection technology, a machine vision sensor technology, or a combination of both technologies.

Step S102, when the acceleration of the vehicle is greater than or equal to a first acceleration threshold value, energy recovery of the vehicle is performed according to the speed of the vehicle and the distance between the vehicle and the front obstacle;

here, in the case where the vehicle is in the downhill coasting state, and the acceleration of the vehicle is greater than or equal to the first acceleration threshold value, the speed of the vehicle is represented to increase quickly. Under the condition of high acceleration, in order to avoid potential safety hazards caused by overspeed of the vehicle or uncomfortable feeling caused by abrupt increase of the vehicle speed, the energy recovery of the vehicle is controlled through the vehicle speed of the vehicle and the distance between the vehicle and the front obstacle.

Step S103, when the acceleration of the vehicle is smaller than a first acceleration threshold, performing energy recovery of the vehicle according to a distance between the vehicle and the obstacle ahead.

Here, in the case where the vehicle is in the downhill coasting state, and the acceleration of the vehicle is smaller than the first acceleration threshold value, it is indicated that the vehicle speed increases very slowly. Under the condition of small acceleration, whether the distance between the vehicle and the front obstacle is within a safety range is mainly considered, so that potential safety hazards of collision caused by the fact that the distance between the vehicle and the front obstacle is relatively close are avoided. At this time, the energy recovery of the vehicle is controlled by the distance between the vehicle and the obstacle ahead.

In some embodiments, step S102 includes steps S1021 through S1022, wherein:

step S1021, recovering energy of the vehicle when the speed of the vehicle is greater than or equal to a first speed threshold;

here, in the case where the vehicle is in the downhill coasting state, the acceleration of the vehicle is greater than or equal to the first acceleration threshold value, and the vehicle speed of the vehicle is greater than or equal to the first vehicle speed threshold value, it is indicated that the vehicle speed of the vehicle increases rapidly, and the vehicle speed is also high. In order to avoid potential safety hazards caused by overspeed of the vehicle or uncomfortable feeling caused by abrupt increase of the speed of the vehicle, the vehicle is subjected to energy recovery at the moment, after a sliding energy recovery function is started, reverse motor recovery torque is applied to a motor, and the motor of the vehicle enters a generator mode to carry out sliding energy recovery, so that the speed of the vehicle is reduced to be within a safe range.

In some embodiments, the energy recovery of the vehicle includes steps S10211 to S10213:

s10211: acquiring the speed of the front obstacle;

here, the speed of the forward obstacle is detected using a radar detection technique (e.g., a high-frequency millimeter wave radar, an infrared laser radar) or a machine vision sensor technique or a combination of both techniques as a basis for subsequently determining the target deceleration of the vehicle.

S10212: determining a target deceleration of the vehicle based on a distance between the vehicle and the forward obstacle, a vehicle speed of the vehicle, and a speed of the forward obstacle;

here, the target deceleration of the vehicle is determined by the distance between the vehicle and the obstacle ahead, the speed of the vehicle, and the speed of the obstacle ahead, facilitating the subsequent control of the vehicle for energy recovery.

S10213: and controlling the motor of the vehicle to enter a generator mode for energy recovery based on the target deceleration.

Here, the motor recovery torque of the vehicle is determined according to the target deceleration of the vehicle, and the motor is controlled to be shifted from the motor mode to the generator mode based on the motor recovery torque, thereby realizing energy recovery of the vehicle.

Step S1022, when the vehicle speed is less than the first vehicle speed threshold, performing energy recovery of the vehicle according to the distance between the vehicle and the forward obstacle.

Here, when the vehicle is in a downhill coasting state, the acceleration of the vehicle is greater than or equal to the first acceleration threshold value, and the vehicle speed of the vehicle is less than the first vehicle speed threshold value, it is indicated that although the increase in vehicle speed is rapid, the vehicle speed itself is small, and the risk of overspeed does not occur, and at this time, the vehicle is subjected to energy recovery according to the magnitude relation between the distance between the vehicle and the obstacle ahead and the first vehicle distance threshold value.

In some embodiments, step S1022 includes steps S10221 to S10223, wherein:

step S10221, in a case where the vehicle speed of the vehicle is less than a first vehicle speed threshold, determining a magnitude relation between a distance between the vehicle and the forward obstacle and a first distance threshold;

here, when the vehicle is in a downhill sliding state, the acceleration of the vehicle is greater than or equal to the first acceleration threshold value, and the vehicle speed of the vehicle is smaller than the first vehicle speed threshold value, the vehicle speed is fast, but the vehicle speed is small, the risk of overspeed does not occur, the distance between the vehicle and the front obstacle is acquired, and the vehicle is subjected to energy recovery through the magnitude relation between the distance between the vehicle and the front obstacle and the first distance threshold value.

Step S10222, in a case where a distance between the vehicle and the forward obstacle is smaller than a first distance threshold, performing energy recovery on the vehicle;

here, when the vehicle is in a downhill sliding state, the acceleration of the vehicle is greater than or equal to a first acceleration threshold, and the speed of the vehicle is less than a first speed threshold, when the distance between the vehicle and the obstacle ahead is less than the first distance threshold, the distance between the vehicle and the obstacle ahead is characterized as being relatively short, and a potential safety hazard of collision exists, at this time, reverse motor recovery torque is applied to the motor, the motor of the vehicle enters a generator mode to perform sliding energy recovery, and meanwhile, the vehicle is decelerated, so that the collision between the vehicle and the obstacle ahead is avoided, and the specific process is referred to step S10211 to step S10213, which is not repeated herein.

Step S10223, in a case where the distance between the vehicle and the forward obstacle is greater than or equal to a first distance threshold, not performing energy recovery for the vehicle.

Here, when the vehicle is in a downhill sliding state, the acceleration of the vehicle is greater than or equal to a first acceleration threshold value, and the speed of the vehicle is smaller than a first speed threshold value, when the distance between the vehicle and the front obstacle is greater than or equal to a first distance threshold value, the distance between the vehicle and the front obstacle is far, and potential safety hazards of collision do not exist, so that the vehicle is not subjected to energy recovery, the distance that the vehicle can slide normally further is ensured, and good sliding experience is brought to a driver.

In some embodiments, step S103 includes steps S1031 to S1033, wherein:

step S1031 of determining a magnitude relation between a distance between the vehicle and the forward obstacle and a second distance threshold value in a case where an acceleration of the vehicle is smaller than a first acceleration threshold value;

here, in the case where the vehicle is in a downhill coasting state and the acceleration of the vehicle is less than the first acceleration threshold value, it is characterized that the increase in the vehicle speed is slow at this time, the distance between the vehicle and the obstacle ahead is acquired at this time, and whether or not to recover the energy of the vehicle is determined by the magnitude relation between the distance between the vehicle and the obstacle ahead and the second distance threshold value.

Step S1032, in the case where the distance between the vehicle and the front obstacle is smaller than a second distance threshold, performing energy recovery on the vehicle;

here, when the vehicle is in a downhill sliding state and the acceleration of the vehicle is smaller than the first acceleration threshold, when the distance between the vehicle and the obstacle ahead is smaller than the second distance threshold, the distance between the vehicle and the obstacle ahead is represented to be closer, a potential safety hazard of collision exists, reverse motor recovery torque is applied to the motor, the motor of the vehicle enters a generator mode to perform sliding energy recovery, meanwhile, the vehicle is decelerated, and the vehicle cannot collide with the obstacle ahead, and the specific process is referred to step S10211 to step S10213 and is not repeated here.

Step S1033, in a case where the distance between the vehicle and the forward obstacle is greater than or equal to a second distance threshold, of not performing energy recovery for the vehicle.

Here, when the vehicle is in a downhill sliding state and the acceleration of the vehicle is smaller than the first acceleration threshold, when the distance between the vehicle and the obstacle ahead is larger than or equal to the second distance threshold, the distance between the vehicle and the obstacle ahead is characterized as being far, potential safety hazards of collision do not exist, and the vehicle is not subjected to energy recovery, so that the vehicle can slide normally for a longer distance, and good sliding experience is brought to a driver.

In some embodiments, step S101 is preceded by steps S111 to S113, wherein:

step S111, acquiring a brake pedal signal and an accelerator pedal signal of the vehicle;

here, the VCU collects a brake pedal signal and an accelerator pedal signal through a sensor, and when the brake pedal signal is 0 and the accelerator pedal signal is not 0, the vehicle is in an acceleration mode; when the brake pedal signal is not 0 and the accelerator pedal signal is 0, the vehicle is in a braking mode; when the brake pedal signal and the accelerator pedal signal are both 0, the vehicle enters a coasting mode.

Step S112, acquiring a first vehicle speed of the vehicle at the current moment under the condition that the brake pedal signal and the accelerator pedal signal represent that the vehicle enters a sliding mode;

here, when both the brake pedal signal and the accelerator pedal signal are 0, the vehicle enters a coasting mode, at which time a first vehicle speed of the vehicle at the present moment is acquired as a basis for subsequently determining whether the vehicle is in a downhill state.

Step S113 of determining that the vehicle is in a downhill coasting state in a case where the vehicle speed of the vehicle maintains the first vehicle speed or the time exceeding the first vehicle speed is greater than a first time threshold.

Here, when the vehicle is in a downhill state, the vehicle is in a downhill state because of the rolling resistance, the air resistance, and the component force of gravity in the direction of the slope, if the vehicle has acceleration in the direction of the slope, the vehicle speed of the vehicle maintains the first vehicle speed or exceeds the first vehicle speed, and if the time for maintaining or exceeding the first vehicle speed exceeds a certain time interval (i.e., the first time threshold), it is indicated that the vehicle is in the downhill state.

In some embodiments, step S101 is preceded by steps S121 to S123, wherein:

step S121, acquiring a brake pedal signal and an accelerator pedal signal of the vehicle;

Step S122, acquiring a gradient signal of a lane where a vehicle is located under the condition that the brake pedal signal and the accelerator pedal signal represent that the vehicle enters a sliding mode;

here, when the brake pedal signal and the accelerator pedal signal are both 0, the vehicle enters a coasting mode, and the vehicle speed of the vehicle collected by the speed sensor, the acceleration of the vehicle by the acceleration sensor, and the angular velocity collected by the gyroscope are each calculated as a gradient signal of the lane in which the vehicle is located.

Step S123, determining that the vehicle is in a downhill coasting state based on the gradient signal.

Here, the gradient signal includes an ascending gradient signal, a flat road signal, and a descending gradient signal, and when the gradient signal is the descending gradient signal, it is determined that the vehicle is in a descending gradient coasting state.

An embodiment of the present application provides another method for recovering energy during vehicle coasting, as shown in fig. 2, specifically including the following steps:

step S201, judging whether the vehicle is in a sliding mode; if yes, go to step S202; if not, the vehicle runs normally;

the VCU is used as a whole vehicle control unit of the electric vehicle and is a core of the whole vehicle control system. The VCU may collect an accelerator pedal signal and a brake pedal signal. When the brake pedal signal is 0 and the accelerator pedal signal is not 0, the electric vehicle is in an acceleration mode; when the brake pedal signal is not 0 and the accelerator pedal signal is 0, the electric vehicle is in a braking mode; as shown in fig. 3, when the brake pedal signal and the accelerator pedal signal are both 0, the electric vehicle enters a coasting mode.

Step S202, judging whether the vehicle is in a downhill mode; if yes, go to step S203; if not, the vehicle runs normally;

by acquiring gradient information of a lane where an electric vehicle is located, whether the electric vehicle enters a downhill mode or not is judged, wherein the judging method comprises the following two steps:

(1) When the electric vehicle is in a downhill state, due to the influence of the rolling resistance, the air resistance and the component force of gravity in the direction of the slope, the vehicle has acceleration in the direction of the slope, the vehicle speed can maintain the current vehicle speed or exceed the current vehicle speed, and when the time for maintaining or exceeding the current vehicle speed exceeds a certain time interval (the time interval can be set to be 3 seconds generally), the vehicle is indicated to be in the downhill state.

(2) Acquiring the speed of the electric vehicle through a speed sensor of the electric vehicle; and calculating the acceleration of the electric vehicle according to the real-time speed change condition of the electric vehicle by the internal calculation of a control system of the electric vehicle. Based on the acceleration of the electric vehicle, obtaining acceleration components of the electric vehicle in a longitudinal X axis, a lateral Y axis and a vertical Z axis; obtaining angular velocity components of the vehicle in the X axis, the Y axis and the Z axis through a gyroscope device of the electric vehicle; and meanwhile, the control system calculates and obtains components of the gravity acceleration in the X axis and the Z axis. The gradient angle is calculated based on the vehicle speed of the electric vehicle, the acceleration components of the electric vehicle in the longitudinal X-axis, the lateral Y-axis and the vertical Z-axis, the angular velocity components of the electric vehicle in the X-axis, the Y-axis and the Z-axis, and the components of the gravitational acceleration in the X-axis and the Z-axis. Based on the grade angle, it is determined whether the electric vehicle is in a downhill mode.

Step S203, judging whether the acceleration of the vehicle is greater than or equal to a first acceleration threshold b; if yes, go to step S204; if not, executing step S206;

step S204, judging whether the speed of the vehicle is greater than or equal to a first speed threshold d; if yes, go to step S205; if not, executing step S207;

step S205, recovering energy of the vehicle;

step S206, judging whether the distance between the vehicle and the front obstacle is greater than or equal to a second distance threshold value c; if yes, go to step S208; if not, executing step S205;

step S207, judging whether the distance between the vehicle and the front obstacle is greater than or equal to a first distance threshold e; if yes, go to step S208; if not, executing step S205;

in step S208, the vehicle is not subjected to energy recovery.

After the electric vehicle enters a downhill sliding mode, different conditions for sliding recovery and opening in the downhill process are set according to the vehicle speed of the vehicle, the calculated acceleration based on the change of the vehicle speed and the distance between the vehicle and the front obstacle.

(1) If the vehicle acceleration is larger than or equal to a first acceleration threshold value b, and meanwhile, when the vehicle speed is larger than or equal to a first speed threshold value d, the vehicle speed is fast to increase, and the vehicle speed is very high, so that potential safety hazards caused by overspeed of the vehicle or uncomfortable feeling caused by abrupt increase of the vehicle speed to passengers are avoided, the vehicle is subjected to energy recovery, after a sliding energy recovery function is started, a motor of the electric vehicle enters a generator mode to perform sliding energy recovery, and reverse motor recovery torque is applied to the motor, so that the vehicle speed of the vehicle is reduced to be within a safety range.

(2) If the vehicle acceleration is greater than or equal to a first acceleration threshold b, and the vehicle speed is less than a first speed threshold d, determining whether to recover energy of the vehicle according to the distance between the vehicle and the front obstacle.

1) If the distance between the vehicle and the front obstacle is more than or equal to a first distance threshold e, representing that the distance between the vehicle and the front obstacle is far at the moment, no potential safety hazard of collision exists, and energy recovery is not carried out on the vehicle, so that the vehicle can normally slide for a longer distance, and good sliding experience is brought to a driver;

2) If the distance between the vehicle and the front obstacle is smaller than the first distance threshold e, the situation that the distance between the vehicle and the front obstacle is relatively close at the moment is characterized in that potential safety hazards of collision exist, at the moment, the vehicle is subjected to energy recovery, after the sliding energy recovery function is started, a motor of the electric vehicle enters a generator mode to perform sliding energy recovery, and meanwhile reverse motor recovery torque is applied to the motor, so that the speed of the vehicle is reduced, and the vehicle is prevented from colliding with the front obstacle.

(3) If the vehicle acceleration is less than the first acceleration threshold b, determining whether to recover energy from the vehicle according to the difference of the distance between the vehicle and the obstacle ahead.

1) If the distance between the vehicle and the front obstacle is more than or equal to a second distance threshold value c, the distance between the vehicle and the front obstacle is characterized as long, the potential safety hazard of collision does not exist, and the vehicle is not subjected to energy recovery, so that the vehicle can normally slide for a longer distance, and good sliding experience is brought to a driver;

2) If the distance between the vehicle and the front obstacle is smaller than the second distance threshold value c, the situation that the distance between the vehicle and the front obstacle is relatively close is characterized in that potential safety hazards of collision exist, at the moment, the vehicle is subjected to energy recovery, after the sliding energy recovery function is started, the motor of the electric vehicle enters a generator mode to perform sliding energy recovery, and meanwhile reverse motor recovery torque is applied to the motor, so that the speed of the vehicle is reduced, and the vehicle is prevented from colliding with the front obstacle.

In some embodiments, the first acceleration threshold b, the first speed threshold d, the first distance threshold e, and the second distance threshold c may be calibrated, for example, the first acceleration threshold b is set to 0.3m/s ² (meters per square second), the first speed threshold d is set to 100km/h (kilometers per hour), the first distance threshold e is set to 200m (meters), and the second distance threshold c is set to 100m.

In the process of recovering the coasting energy of the electric vehicle, it is also necessary to determine the appropriate energy recovery intensity in the current running state, that is, to determine the target deceleration, so that the vehicle can be controlled to decelerate. The specific control mode is that the motor recovery torque of the vehicle is determined according to the determined target deceleration, then the energy recovery is carried out on the electric vehicle according to the motor recovery torque, and the vehicle is controlled to decelerate. The target deceleration is determined based on the distance of the vehicle from the obstacle ahead, the speed of the vehicle, and the speed of the obstacle ahead. Wherein the expression of the target deceleration is shown in the following formula (1-1):

in the formula (1-1), a (t) is a target deceleration, v ₁ Vehicle speed, v, before energy recovery for electric vehicle ₂ Vehicle speed v after energy recovery for electric vehicle ₀ For the speed of the obstacle ahead, t is the time for the electric vehicle to recover energy, s ₁ Distance s from the obstacle ahead before energy recovery for an electric vehicle ₂ Distance from the obstacle in front after energy recovery for the electric vehicle.

In the energy recovery process, the motor recovery torque is controlled by adopting proportional integral control, and the expression of the proportional integral control is shown in the following formula (1-2):

In the formula (1-2), K is a proportionality coefficient, a (t) is a target deceleration,and T is the predicted energy recovery time, and T (T) is the output motor recovery torque. And (3) bringing the target deceleration into the formula (1-2), so that the motor recovery torque required for recovering the energy of the vehicle can be obtained, the vehicle is controlled to recover the energy according to the output motor recovery torque, the motor of the vehicle is converted into a generator mode from a motor mode, the vehicle-mounted battery is charged, and meanwhile, the electric vehicle is decelerated, so that the speed of the electric vehicle is reduced within a safety range. In some embodiments, the energy recovery intensity of the vehicle is classified into three levels of "strong recovery", "medium recovery", and "weak recovery", where "weak recovery" corresponds to a motor recovery torque range of [1, 20 ]]Nm (Newton meters) and the motor recovery torque range corresponding to "middle recovery" is (20, 124)]The motor recovery torque range corresponding to Nm, strong recovery is (124, ++ infinity Nm. In some embodiments, when the target deceleration a (t) is 0.3m/s ² When the corresponding motor recovery torque is 20Nm, the corresponding energy recovery strength is weak recovery; when the target deceleration a (t) is 0.5m/s ² At this time, the corresponding motor recovery torque was 59Nm, and at this time, the corresponding energy recovery strength was "medium recovery"; when the target deceleration a (t) is 1m/s ² At this time, the corresponding motor recovery torque was 168Nm, and the corresponding energy recovery strength was "strong recovery".

Compared with the prior art, the application has the following advantages: by setting the threshold value for the acceleration of the vehicle, under the condition that the acceleration of the vehicle is in different threshold ranges, combining the speed of the vehicle and/or the distance between the vehicle and the obstacle in front, whether the vehicle is subjected to energy recovery is determined, the problem that the energy conversion loss is large due to the fact that the vehicle frequently enters or exits an energy recovery mode is avoided, and meanwhile, the problem that bad driving feeling is brought to a driver due to frequent deceleration is also avoided.

As shown in fig. 4, a device 400 for recovering sliding energy of a vehicle according to an embodiment of the present application includes: a first obtaining module 410, configured to obtain, when a vehicle is in a downhill sliding state and if it is detected that a front obstacle exists in a lane where the vehicle is located, a vehicle speed of the vehicle, an acceleration of the vehicle, and a distance between the vehicle and the front obstacle; a first energy recovery module 420 for performing energy recovery of the vehicle according to a vehicle speed of the vehicle and a distance between the vehicle and the front obstacle in a case where an acceleration of the vehicle is greater than or equal to a first acceleration threshold; a second energy recovery module 430 for performing energy recovery of the vehicle according to a distance between the vehicle and the forward obstacle in case that an acceleration of the vehicle is less than a first acceleration threshold.

In some embodiments, the first energy recovery module comprises: a determination unit configured to determine whether a vehicle speed of the vehicle is greater than or equal to a first vehicle speed threshold value, in a case where an acceleration of the vehicle is greater than or equal to the first acceleration threshold value; triggering a first energy recovery unit if a vehicle speed of the vehicle is greater than or equal to a first vehicle speed threshold; triggering a second energy recovery unit if the speed of the vehicle is less than a first speed threshold; the first energy recovery unit is used for recovering energy of the vehicle; the second energy recovery unit is used for recovering energy of the vehicle according to the distance between the vehicle and the front obstacle.

In some embodiments, a second energy recovery unit is configured to determine a magnitude relationship between a distance between the vehicle and the forward obstacle and a first distance threshold if a vehicle speed of the vehicle is less than a first vehicle speed threshold; in the event that the distance between the vehicle and the forward obstacle is greater than or equal to a first distance threshold, not energy recuperating the vehicle; triggering a first energy recovery unit if a distance between the vehicle and the forward obstacle is less than a first distance threshold; the first energy recovery unit is used for recovering energy of the vehicle.

In some embodiments, the second energy recovery module comprises: determining a magnitude relationship between a distance between the vehicle and the forward obstacle and a second distance threshold if an acceleration of the vehicle is less than a first acceleration threshold; in the event that the distance between the vehicle and the forward obstacle is greater than or equal to a second distance threshold, not energy recuperating the vehicle; triggering a first energy recovery unit if a distance between the vehicle and the forward obstacle is less than a second distance threshold; the first energy recovery unit is used for recovering energy of the vehicle.

In some embodiments, the vehicle coasting energy recovery device further comprises: a second acquisition module for acquiring a brake pedal signal and an accelerator pedal signal of the vehicle; the third acquisition module is used for acquiring a first vehicle speed of the vehicle at the current moment under the condition that the brake pedal signal and the accelerator pedal signal represent that the vehicle enters a sliding mode; and the first determining module is used for determining that the vehicle is in a downhill sliding state under the condition that the speed of the vehicle maintains the first speed or the time exceeding the first speed is larger than a first time threshold value.

In some embodiments, the vehicle coasting energy recovery device further comprises: a fourth acquisition module configured to acquire a brake pedal signal and an accelerator pedal signal of the vehicle; a fifth obtaining module, configured to obtain a gradient signal of a lane in which a vehicle is located when the brake pedal signal and the accelerator pedal signal indicate that the vehicle enters a coasting mode; and the second determining module is used for determining that the vehicle is in a downhill sliding state based on the gradient signal.

The first energy recovery unit is used for acquiring the speed of the front obstacle; determining a target deceleration of the vehicle based on a distance between the vehicle and the forward obstacle, a vehicle speed of the vehicle, and a speed of the forward obstacle; and controlling the motor of the vehicle to enter a generator mode for energy recovery based on the target deceleration.

The above description of the device embodiments for vehicle coasting energy recovery is similar to the description of the method embodiments for vehicle coasting energy recovery with similar advantageous effects of the same method embodiments. In some embodiments, the functions or modules included in the apparatus for vehicle sliding energy recovery provided in the embodiments of the present application may be used to perform the method described in the method embodiment for vehicle sliding energy recovery, and for technical details not disclosed in the apparatus embodiment of the present application, please refer to the description of the method embodiment for vehicle sliding energy recovery for the present application.

The device for recovering the vehicle sliding energy provided by the embodiment of the application can be a computer device (such as a notebook computer, a desktop computer, a server cluster and the like) when being realized, and comprises a processor and a memory, wherein the memory is used for storing a computer program; the processor is configured to execute the computer program stored in the memory, and implement the method described above.

The embodiment of the application provides a computer readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method is implemented. The computer readable storage medium may be transitory or non-transitory.

It should be noted that, in the embodiment of the present application, if the method is implemented in the form of a software functional module, and sold or used as a separate product, the method may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partly contributing to the related art, and the software product may be stored in a storage medium, including several instructions for performing all or part of the above-described methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the present application are not limited to any specific hardware, software, or firmware, or to any combination of hardware, software, and firmware.

Embodiments of the present application provide a computer program comprising computer readable code which, when run on a computer program, causes a processor to perform some or all of the steps for implementing the method described above.

Embodiments of the present application provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program which, when read and executed by a computer, performs some or all of the steps of the above-described method. The computer program product may be realized in particular by means of hardware, software or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium, in other embodiments the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

It should be noted here that: the above description of various embodiments is intended to emphasize the differences between the various embodiments, the same or similar features being referred to each other. The above description of apparatus, storage medium, computer program and computer program product embodiments is similar to that of method embodiments described above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus, storage medium, computer program and computer program product of the present application, please refer to the description of the method embodiments of vehicle coasting energy recovery of the present application.

In an embodiment of the present application, a device for recovering vehicle sliding energy is provided, as shown in fig. 5, the hardware entities of a device 500 for recovering vehicle sliding energy include: a processor 501, a communication interface 502 and a memory 503, wherein:

the processor 501 generally controls the overall operation of the device 500.

The communication interface 502 may enable the device to communicate with other terminals or servers over a network.

The memory 503 is configured to store instructions and applications executable by the processor 501, and may also cache data (e.g., image data, audio data, voice communication data, and video communication data) to be processed or processed by the various modules in the processor 501 and the device 500, and may be implemented by a FLASH memory (FLASH) or a random access memory (Random Access Memory, RAM). Data transfer may be performed between the processor 501, the communication interface 502 and the memory 503 via the bus 504.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the steps/processes described above are not indicative of the order of execution, and the order of execution of the steps/processes should be determined by their functions and internal logic, and should not constitute any limitation on the implementation of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not characterize the advantages and disadvantages of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus, device, and method may be implemented in other manners. The above-described embodiments of the apparatus and device are merely exemplary, and for example, the division of the units is merely a logic function division, and there may be other division manners in actual implementation, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.

Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the related art in the form of a software product stored in a storage medium, including several instructions for causing an apparatus to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection scope of the present application.

Claims

1. A method of vehicle coasting energy recovery, the method comprising:

under the condition that a vehicle is in a downhill sliding state, if a front obstacle is detected to exist in a lane where the vehicle is located, acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle;

Performing energy recovery of the vehicle according to a vehicle speed of the vehicle and a distance between the vehicle and the forward obstacle when an acceleration of the vehicle is greater than or equal to a first acceleration threshold;

and when the acceleration of the vehicle is smaller than a first acceleration threshold value, recovering energy of the vehicle according to the distance between the vehicle and the front obstacle.

2. The method of claim 1, wherein the energy recovery of the vehicle based on a speed of the vehicle and a distance between the vehicle and the forward obstacle comprises:

energy recovery is performed on the vehicle when the vehicle speed of the vehicle is greater than or equal to a first vehicle speed threshold;

and when the vehicle speed is less than a first vehicle speed threshold, recovering energy of the vehicle according to the distance between the vehicle and the front obstacle.

3. The method according to claim 2, wherein the energy recovery of the vehicle according to a distance between the vehicle and the forward obstacle in the case where a vehicle speed of the vehicle is less than a first vehicle speed threshold value, comprises:

Determining a magnitude relationship between a distance between the vehicle and the forward obstacle and a first distance threshold when a speed of the vehicle is less than a first vehicle speed threshold;

energy recovery is performed on the vehicle if a distance between the vehicle and the forward obstacle is less than a first distance threshold;

in the event that the distance between the vehicle and the forward obstacle is greater than or equal to a first distance threshold, no energy recovery is performed on the vehicle.

4. The method of claim 1, wherein the energy recovery of the vehicle as a function of a distance between the vehicle and the forward obstacle if the acceleration of the vehicle is less than a first acceleration threshold, comprises:

determining a magnitude relationship between a distance between the vehicle and the forward obstacle and a second distance threshold if an acceleration of the vehicle is less than a first acceleration threshold;

energy recovery is performed on the vehicle if a distance between the vehicle and the forward obstacle is less than a second distance threshold;

in the event that the distance between the vehicle and the forward obstacle is greater than or equal to a second distance threshold, no energy recovery is performed on the vehicle.

5. The method according to claim 1, wherein, in the case where the vehicle is in a downhill sliding state, before acquiring the vehicle speed, the vehicle acceleration, and the distance between the vehicle and the forward obstacle if the presence of the forward obstacle in the lane in which the vehicle is located is detected, further comprises:

acquiring a brake pedal signal and an accelerator pedal signal of the vehicle;

under the condition that the brake pedal signal and the accelerator pedal signal represent that a vehicle enters a sliding mode, acquiring a first vehicle speed of the vehicle at the current moment;

and determining that the vehicle is in a downhill sliding state when the speed of the vehicle maintains the first speed or the time exceeding the first speed is greater than a first time threshold.

6. The method according to claim 1, wherein, in the case where the vehicle is in a downhill sliding state, before acquiring the vehicle speed, the vehicle acceleration, and the distance between the vehicle and the forward obstacle if the presence of the forward obstacle in the lane in which the vehicle is located is detected, further comprises:

acquiring a brake pedal signal and an accelerator pedal signal of the vehicle;

Acquiring a gradient signal of a lane where a vehicle is located under the condition that the brake pedal signal and the accelerator pedal signal represent that the vehicle enters a sliding mode;

and determining that the vehicle is in a downhill coasting state based on the gradient signal.

7. The method of any one of claims 2 to 4, wherein said energy recovery of said vehicle comprises:

acquiring the speed of the front obstacle;

determining a target deceleration of the vehicle based on a distance between the vehicle and the forward obstacle, a vehicle speed of the vehicle, and a speed of the forward obstacle;

and controlling the motor of the vehicle to enter a generator mode for energy recovery based on the target deceleration.

8. An apparatus for vehicle coasting energy recovery, the apparatus comprising:

the first acquisition module is used for acquiring the speed of the vehicle, the acceleration of the vehicle and the distance between the vehicle and the front obstacle if the front obstacle exists in the lane where the vehicle is located under the condition that the vehicle is in a downhill sliding state;

a first energy recovery module that, when the acceleration of the vehicle is greater than or equal to a first acceleration threshold, recovers energy of the vehicle according to the vehicle speed of the vehicle and the distance between the vehicle and the obstacle ahead;

And the second energy recovery module is used for recovering the energy of the vehicle according to the distance between the vehicle and the front obstacle when the acceleration of the vehicle is smaller than a first acceleration threshold value.

9. An apparatus for vehicle coasting energy recovery, the apparatus comprising a processor and a memory:

the memory is used for storing a computer program;

the processor for executing a computer program stored in the memory, implementing the method according to any of claims 1 to 7.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when being executed by a processor, implements the method according to any of claims 1 to 7.