CN117429269B - Control method for closed-loop braking energy recovery function of new energy vehicle type and vehicle - Google Patents
Control method for closed-loop braking energy recovery function of new energy vehicle type and vehicle Download PDFInfo
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- CN117429269B CN117429269B CN202311724350.8A CN202311724350A CN117429269B CN 117429269 B CN117429269 B CN 117429269B CN 202311724350 A CN202311724350 A CN 202311724350A CN 117429269 B CN117429269 B CN 117429269B
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- 238000004590 computer program Methods 0.000 claims description 3
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a control method for a closed-loop braking energy recovery function of a new energy vehicle type and a vehicle, belonging to the technical field of braking energy recovery, and comprising the following steps: when deceleration request data is received, acquiring a signal mode and a braking force demand of a deceleration request in the deceleration request data; the magnitude of braking energy recovery corresponding braking force which can be provided by the current power system is identified, and the hydraulic braking system and the power system of the whole vehicle are distributed according to the braking force requirement; acquiring a motor recovery torque value actually executed by the power system and a target torque value of recovery braking force to execute a consistency judgment strategy; if yes, acquiring the whole vehicle deceleration of the whole vehicle under the braking force and executing a deviation judgment strategy with the actual whole vehicle deceleration. According to the invention, the requirement of the driver is accurately identified, the braking energy recovery capacity of the motor and the actual braking recovery torque of the motor are monitored, and the deceleration requirement of the driver in the braking energy recovery process is completely closed-loop controlled.
Description
Technical Field
The invention discloses a control method for a closed-loop braking energy recovery function of a new energy vehicle type and a vehicle, and belongs to the technical field of braking energy recovery.
Background
Currently, along with popularization of energy vehicle types, the demand of energy utilization rate is continuously improved, and application of braking energy recovery is more and more common, namely in the running process of a vehicle, when the vehicle is decelerated, the torque reversed by a motor is overcome when the vehicle advances, the motor is dragged to rotate, power generation of the motor during deceleration is realized, the power is stored in a storage battery, and the cruising mileage of the vehicle is improved.
However, the braking energy recovery process is a process of braking by combining hydraulic braking force and braking motor braking force, wherein the switching of braking force sources is involved, because the deceleration requirement of the vehicle in the braking process comes from the fact that the driver steps on a brake pedal, or the deceleration or the braking force request sent by the upper layer in the automatic driving process, the specific source of the braking force of the whole vehicle cannot be generally identified, and the first time judgment is not made on whether the required braking force is effectively executed, and only the response that the deceleration of the vehicle does not reach the expected step is felt, for example, when a person starts a car, the driver finds that the braking force is inconsistent with the expected braking pedal after a certain braking pedal stroke is not met (the expected braking pedal corresponds to the stroke when the vehicle is normal), and then the driver can continue stepping on the brake pedal after the vehicle cannot reach the expected deceleration, and the safety risk is caused at this time, or the driver is often panicked.
The known braking energy recovery schemes at present have no complete closed-loop control strategy, and whether the expected braking force of a driver is accurately executed in the braking energy recovery process cannot be monitored, so that safety risks exist.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a control method for a closed-loop braking energy recovery function of a new energy vehicle type and a vehicle, wherein the control method is used for carrying out complete closed-loop control on the deceleration requirement of a driver in the braking energy recovery process by accurately identifying the requirement of the driver, monitoring the braking energy recovery capacity of an electric motor and the actual braking recovery torque of the electric motor and combining the deceleration of the actual vehicle so as to improve the braking safety.
The technical scheme of the invention is as follows:
according to a first aspect of an embodiment of the present invention, there is provided a control method for a closed-loop braking energy recovery function of a new energy vehicle model, including:
when deceleration request data is received, acquiring a signal mode and a braking force demand of a deceleration request in the deceleration request data;
the magnitude of braking energy recovery corresponding braking force which can be provided by the current power system is identified, and the hydraulic braking system and the power system of the whole vehicle are distributed according to the braking force requirement;
acquiring a motor recovery torque value actually executed by the power system and a target torque value of recovery braking force to execute a consistency judgment strategy;
if yes, acquiring the whole vehicle deceleration of the whole vehicle under the braking force and executing a deviation judgment strategy with the actual whole vehicle deceleration.
Preferably, the acquiring the deceleration request in the deceleration request data sends out a signal mode and a braking force requirement, including:
when a signal mode sent by a deceleration request is a brake pedal depression signal according to the deceleration request data, the braking force requirement of a current driver is obtained according to the brake pedal travel in the deceleration request data;
and when a deceleration request sending signal mode is obtained according to the deceleration request data and a deceleration request signal is sent to an upper intelligent driving system, the current braking force requirement is obtained according to a request value in the deceleration request data.
Preferably, before the identifying the magnitude of the braking energy recovery corresponding to the braking force that can be provided by the current power system, the method further includes: and executing a fault judgment strategy according to the related information of the whole vehicle.
Preferably, the executing the fault judging policy according to the vehicle related information includes:
identifying whether a braking system has faults according to the whole vehicle related information:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
if not, executing the next step;
identifying whether a power system has faults according to the whole vehicle related information:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
and if not, executing the next step.
Preferably, the step of obtaining the motor recovery torque value actually executed by the power system and the target torque value of the recovery braking force execute a consistency judgment strategy, including:
acquiring a motor recovery torque value actually executed by the power system, and judging whether the motor recovery torque value is larger than a torque threshold value or not according to a difference value between the motor recovery torque value and a target value of recovery braking force:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
and if not, the motor recovery torque value is consistent with the target value of the recovery braking force, continuously executing the recovery braking force of the power system and repeatedly executing the consistency judgment strategy.
Preferably, the acquiring the whole vehicle deceleration of the whole vehicle under the braking force and the actual whole vehicle deceleration execute a deviation judgment strategy, which includes:
acquiring the deceleration of the whole vehicle under the braking force, and judging whether the deceleration is larger than a deceleration threshold value according to the difference value between the deceleration of the whole vehicle under the braking force and the actual deceleration of the whole vehicle:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
and if not, continuing to execute the power system to recover the braking force and repeatedly executing the deviation judging strategy.
According to a second aspect of the embodiment of the present invention, there is provided a control device for a closed-loop braking energy recovery function of a new energy vehicle type, including:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a signal mode and a braking force requirement sent by a deceleration request in deceleration request data when the deceleration request data is received;
the distribution module is used for identifying the magnitude of braking energy recovery corresponding braking force which can be provided by the current power system, and distributing the hydraulic braking system and the power system of the whole vehicle according to the braking force demand;
the consistency judging module is used for acquiring a motor recovery torque value actually executed by the power system and a target torque value of recovery braking force to execute a consistency judging strategy;
and the deviation judging module is used for acquiring the whole vehicle deceleration of the whole vehicle under the braking force and executing a deviation judging strategy with the actual whole vehicle deceleration if the deviation judging module is used for acquiring the whole vehicle deceleration under the braking force.
Preferably, the acquiring module is configured to:
when a signal mode sent by a deceleration request is a brake pedal depression signal according to the deceleration request data, the braking force requirement of a current driver is obtained according to the brake pedal travel in the deceleration request data;
and when a deceleration request sending signal mode is obtained according to the deceleration request data and a deceleration request signal is sent to an upper intelligent driving system, the current braking force requirement is obtained according to a request value in the deceleration request data.
According to a third aspect of an embodiment of the present invention, there is provided a vehicle including:
one or more processors;
a memory for storing the one or more processor-executable instructions;
wherein the one or more processors are configured to:
the method according to the first aspect of the embodiment of the invention is performed.
According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer readable storage medium, which when executed by a processor of a terminal, enables the terminal to perform the method according to the first aspect of embodiments of the present invention.
According to a fifth aspect of embodiments of the present invention, there is provided an application program product for causing a terminal to carry out the method according to the first aspect of embodiments of the present invention when the application program product is run at the terminal.
The invention has the beneficial effects that:
the invention provides a control method for a closed-loop braking energy recovery function of a new energy vehicle type and a vehicle, which can accurately execute the braking requirement of a driver in the process of recovering the braking energy of the new energy vehicle type, and accurately identify the braking force required by the driver, the recovery capacity of a motor, the actual recovery torque of the motor and the deceleration of the whole vehicle; under the condition of ensuring the maximum braking energy recovery utilization rate, the closed-loop control of the driver demand is realized through the controller strategy, the safety of the new energy vehicle type in the braking process with the braking energy recovery is ensured, and the driving experience of the vehicle is improved.
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 invention as claimed.
Drawings
Fig. 1 is a flowchart illustrating a control method of a new energy vehicle type closed-loop braking energy recovery function according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating a control method of a new energy vehicle type closed-loop braking energy recovery function according to an exemplary embodiment.
Fig. 3 is a schematic block diagram showing a control apparatus of a new energy vehicle type closed-loop braking energy recovery function according to an exemplary embodiment.
Fig. 4 is a schematic block diagram of a vehicle structure according to an exemplary embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The embodiment of the invention provides a control method for a new energy vehicle type closed-loop braking energy recovery function, which is realized by a terminal, wherein the terminal at least comprises a CPU and the like.
Embodiment one: fig. 1 and 2 are diagrams illustrating a control method of a closed-loop braking energy recovery function of a new energy vehicle type according to an exemplary embodiment, including:
step 101, when deceleration request data is received, a deceleration request sending signal mode and a braking force requirement in the deceleration request data are acquired, and the specific contents are as follows:
when deceleration request data is received, it is first identified whether the vehicle is currently being driven by a person or whether the intelligent driving system is driving the vehicle:
when a person drives the vehicle and steps on the brake, obtaining a signal mode sent by a deceleration request according to the deceleration request data and a brake pedal stepping signal, and obtaining the braking force requirement of the current driver according to the brake pedal stroke in the deceleration request data;
when the intelligent driving system sends out a corresponding deceleration request, a deceleration request sending signal mode is obtained according to deceleration request data, and a deceleration request signal is sent out for the upper intelligent driving system, and the current braking force requirement is obtained according to a request value in the deceleration request data.
Step 102, the magnitude of braking energy recovery corresponding braking force which can be provided by the current power system is identified, and the hydraulic braking system and the power system of the whole vehicle are distributed according to the braking force demand, wherein the specific contents are as follows:
before the magnitude of the braking energy recovery corresponding braking force which can be provided by the current power system is identified, a fault judgment strategy is executed according to the related information of the whole vehicle, and the specific steps of the fault judgment strategy are as follows:
identifying whether a braking system has faults according to the related information of the whole vehicle:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force, wherein the braking force is not recovered by the power system in the braking cycle;
if not, executing the next step;
identifying whether a power system has faults according to the whole vehicle related information:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force, wherein the braking force is not recovered by the power system in the braking cycle;
if not, the brake system and the power system have no faults, and the next step is executed;
and identifying the magnitude of braking energy recovery corresponding braking force which can be provided by the current power system, and distributing the braking force requirement of the whole vehicle after confirming the magnitude of braking energy recovery braking.
Step 103, obtaining a motor recovery torque value actually executed by the power system and a target torque value of recovery braking force to execute a consistency judgment strategy, wherein the specific contents are as follows:
when the braking force demand of the whole vehicle is distributed, the hydraulic braking system receives an execution target of hydraulic braking force and executes corresponding braking force, and the power system receives an execution target of braking energy recovery braking force and executes according to the target of recovery braking force.
And then acquiring a motor recovery torque value actually executed by the power system, and judging whether the motor recovery torque value is larger than a torque threshold value according to the difference value between the motor recovery torque value and a target value of recovery braking force:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force, wherein the braking force is not recovered by the power system in the braking cycle;
and if not, the motor recovery torque value is consistent with the target value of the recovery braking force, continuously executing the recovery braking force of the power system and repeatedly executing the consistency judgment strategy.
Step 104, if yes, acquiring the whole vehicle deceleration of the whole vehicle under the braking force and the actual whole vehicle deceleration to execute a deviation judgment strategy, wherein the specific contents are as follows:
acquiring the whole vehicle deceleration of the whole vehicle under the braking force, and judging whether the difference value between the whole vehicle deceleration of the whole vehicle under the braking force and the actual whole vehicle deceleration is larger than a deceleration threshold value or not:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force, wherein the braking force is not recovered by the power system in the braking cycle;
and if not, continuing to execute the power system to recover the braking force and repeatedly executing the deviation judging strategy.
Embodiment two: fig. 3 is a schematic block diagram showing a control apparatus of a closed-loop braking energy recovery function of a new energy vehicle type according to an exemplary embodiment, the apparatus including:
an obtaining module 210, configured to obtain, when deceleration request data is received, a signal mode and a braking force requirement sent by a deceleration request in the deceleration request data;
the distribution module 220 is configured to identify a magnitude of braking energy recovery corresponding to braking force that can be provided by the current power system, and distribute the hydraulic braking system and the power system of the whole vehicle according to the braking force requirement;
the consistency judging module 230 is configured to obtain a motor recovery torque value actually executed by the power system and a target torque value of a recovery braking force to execute a consistency judging strategy;
and the deviation judging module 240 is configured to obtain the whole vehicle deceleration of the whole vehicle under the braking force and execute a deviation judging strategy with the actual whole vehicle deceleration if the deviation judging module is yes.
Preferably, the obtaining module 210 is configured to:
when a signal mode sent by a deceleration request is a brake pedal depression signal according to the deceleration request data, the braking force requirement of a current driver is obtained according to the brake pedal travel in the deceleration request data;
and when a deceleration request sending signal mode is obtained according to the deceleration request data and a deceleration request signal is sent to an upper intelligent driving system, the current braking force requirement is obtained according to a request value in the deceleration request data.
The method and the device ensure that the whole vehicle can still ensure the braking force after the problem of the braking force recovery of the power system is solved through double closed-loop control. The actual recovery braking force of the motor of the power system is monitored to judge whether the current braking force requirement of the whole vehicle is met, if not, the braking energy of the power system is recovered and withdrawn immediately, and meanwhile, the current braking force requirement is synchronously complemented by the hydraulic braking force, so that the deceleration requirement of the whole vehicle is ensured. If the power system has a problem, the actual recovery braking moment fed back by the power system is inaccurate, at the moment, the system calculates how much deceleration the current braking force theoretically should generate for the whole vehicle, if the actual deceleration of the current whole vehicle exceeds a deviation value, the power system judges that the braking energy recovery force executed by the power system has a fault, the braking energy recovery is stopped, the hydraulic braking force supplements the whole braking force, and the braking force is not recovered by the power system in the braking cycle.
Embodiment III: fig. 4 is a block diagram of a vehicle 300 provided in an embodiment of the present application. For example, the vehicle 300 may be a hybrid vehicle, or may be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle. The vehicle 300 may also be equipped with a brake-by-wire system.
Referring to fig. 4, a vehicle 300 may include various subsystems, such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. Wherein the vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 300 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 320 may include several types of sensors for sensing information of the environment surrounding the vehicle 300. For example, the perception system 320 may include a global positioning system (which may be a GPS system, or may be a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 340 may include components that provide powered movement of the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 300 are controlled by the computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, the processor 351 may execute instructions 353 stored in the memory 352.
The processor 351 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field ProgrammableGate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (ApplicationSpecific Integrated Circuit, ASIC), or a combination thereof.
The memory 352 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 353, memory 352 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 352 may be used by computing platform 350.
In an embodiment of the present disclosure, the processor 351 may execute the instructions 353 to perform all or part of the steps of a control method for a closed-loop braking energy recovery function of a new energy vehicle model as described above.
Embodiment four: in an exemplary embodiment, a computer readable storage medium is also provided, on which a computer program is stored, which when executed by a processor, implements a control method for a closed-loop braking energy recovery function of a new energy vehicle model as provided in all the inventive embodiments of the present application.
Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Fifth embodiment: in an exemplary embodiment, an application program product is also provided, including one or more instructions executable by the processor 351 of the apparatus to perform the control method of a new energy vehicle type closed loop brake energy recovery function.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (5)
1. The control method of the closed-loop braking energy recovery function of the new energy vehicle type is characterized by comprising the following steps of:
when deceleration request data is received, acquiring a deceleration request sending signal mode and a braking force requirement in the deceleration request data, wherein the deceleration request sending signal mode and the braking force requirement comprise the following steps:
when a signal mode sent by a deceleration request is a brake pedal depression signal according to the deceleration request data, the braking force requirement of a current driver is obtained according to the brake pedal travel in the deceleration request data;
when a deceleration request sending signal mode is obtained according to the deceleration request data and a deceleration request signal is sent to an upper intelligent driving system, a current braking force requirement is obtained according to a request value in the deceleration request data;
executing a fault judgment strategy according to the related information of the whole vehicle, identifying the magnitude of braking energy recovery corresponding to braking force which can be provided by the current power system, and distributing a hydraulic braking system and a power system of the whole vehicle according to the braking force requirement;
the method for acquiring the motor recovery torque value actually executed by the power system and the target torque value of the recovery braking force to execute the consistency judgment strategy comprises the following steps:
acquiring a motor recovery torque value actually executed by the power system, and judging whether the motor recovery torque value is larger than a torque threshold value or not according to a difference value between the motor recovery torque value and a target value of recovery braking force:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
if not, the motor recovery torque value is consistent with the target value of the recovery braking force, the power system recovery braking force is continuously executed, and the consistency judgment strategy is repeatedly executed;
the method for acquiring the whole vehicle deceleration of the whole vehicle under the braking force and the actual whole vehicle deceleration to execute the deviation judgment strategy comprises the following steps:
acquiring the deceleration of the whole vehicle under the braking force, and judging whether the deceleration is larger than a deceleration threshold value according to the difference value between the deceleration of the whole vehicle under the braking force and the actual deceleration of the whole vehicle:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
and if not, continuing to execute the power system to recover the braking force and repeatedly executing the deviation judging strategy.
2. The method for controlling a closed-loop braking energy recovery function of a new energy vehicle according to claim 1, wherein the executing the fault judgment strategy according to the vehicle-related information comprises:
identifying whether a braking system has faults according to the whole vehicle related information:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
if not, executing the next step;
identifying whether a power system has faults according to the whole vehicle related information:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
and if not, executing the next step.
3. The utility model provides a new energy automobile type closed loop braking energy recovery function's controlling means which characterized in that includes:
the acquisition module is used for acquiring a signal mode and a braking force requirement sent by a deceleration request in deceleration request data when the deceleration request data is received, and comprises the following steps:
when a signal mode sent by a deceleration request is a brake pedal depression signal according to the deceleration request data, the braking force requirement of a current driver is obtained according to the brake pedal travel in the deceleration request data;
when a deceleration request sending signal mode is obtained according to the deceleration request data and a deceleration request signal is sent to an upper intelligent driving system, a current braking force requirement is obtained according to a request value in the deceleration request data;
the distribution module is used for executing a fault judgment strategy according to the related information of the whole vehicle, identifying the magnitude of braking energy recovery corresponding braking force which can be provided by the current power system, and distributing the hydraulic braking system and the power system of the whole vehicle according to the braking force requirement;
the consistency judging module is used for acquiring a motor recovery torque value actually executed by the power system and a target torque value of recovery braking force to execute a consistency judging strategy, and comprises the following steps:
acquiring a motor recovery torque value actually executed by the power system, and judging whether the motor recovery torque value is larger than a torque threshold value or not according to a difference value between the motor recovery torque value and a target value of recovery braking force:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
if not, the motor recovery torque value is consistent with the target value of the recovery braking force, the power system recovery braking force is continuously executed, and the consistency judgment strategy is repeatedly executed;
the deviation judging module is used for acquiring the whole vehicle deceleration of the whole vehicle under the braking force and executing a deviation judging strategy with the actual whole vehicle deceleration, and comprises the following steps:
acquiring the deceleration of the whole vehicle under the braking force, and judging whether the deceleration is larger than a deceleration threshold value according to the difference value between the deceleration of the whole vehicle under the braking force and the actual deceleration of the whole vehicle:
directly exiting the braking energy recovery strategy, and supplementing all braking force by the hydraulic braking force;
and if not, continuing to execute the power system to recover the braking force and repeatedly executing the deviation judging strategy.
4. A vehicle, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the control method of the new energy vehicle model closed loop braking energy recovery function of any one of claims 1 to 2.
5. A computer-readable storage medium, on which computer program instructions are stored, characterized in that the program instructions, when executed by a processor, implement the steps of the control method of the closed-loop braking energy recovery function of a new energy vehicle model according to any one of claims 1 to 2.
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