CN117799608A - Vehicle sliding energy recovery method and device, electronic equipment and vehicle - Google Patents
Vehicle sliding energy recovery method and device, electronic equipment and vehicle Download PDFInfo
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Abstract
According to the method and device for recovering the sliding energy of the vehicle, the electronic equipment and the vehicle, when the fact that the vehicle enters the sliding mode is detected, the current first state information of the vehicle and the current second state information of the front target are obtained. And judging whether the first state information and the second state information meet preset coasting energy recovery conditions, and if so, determining the current target recovery torque of the vehicle through calculation according to the first state information and the second state information. According to the sliding energy recovery method, the target recovery torque in the sliding process of the vehicle can be automatically adjusted, compared with a traditional fixed recovery mode, the target recovery torque can be calculated and adjusted in real time according to the front target, the target recovery torque is executed to conduct sliding energy recovery of the vehicle, the purpose of maximum sliding energy recovery is achieved, and the sliding energy recovery efficiency is improved.
Description
Technical Field
The application relates to the technical field of electric automobiles, in particular to a method and a device for recovering sliding energy of a vehicle, electronic equipment and the vehicle.
Background
In recent years, electric automobiles are becoming the main stream of the automobile market due to their excellent energy saving and emission reduction performance and active guidance of national policies. The electric automobile is driven by a motor, and can charge a power battery in the sliding process, so that most of the electric automobiles currently have the function of energy recovery so as to increase the driving range. In the prior art, most electric automobiles adopt energy recovery modes with preset fixed grades, corresponding recovery torque is obtained according to real-time vehicle speed table lookup, and the sliding energy recovery is realized by switching among the energy recovery modes with the fixed grades. However, the above-mentioned sliding energy recovery method cannot automatically adjust the recovery torque in real time according to the road condition information, and thus cannot achieve the maximization of the sliding energy recovery, resulting in low sliding energy recovery efficiency.
Disclosure of Invention
Accordingly, an object of the present application is to provide a method and apparatus for recovering sliding energy of a vehicle, an electronic device and a vehicle, so as to solve the problem that the recovery torque cannot be adjusted in real time in the sliding state of the vehicle, resulting in low recovery efficiency of the sliding energy.
In view of the above object, a first aspect of the present application provides a coasting energy recovery method of a vehicle, including:
in response to detecting that the vehicle enters a coasting mode, acquiring current first state information of the vehicle and current second state information of a front target;
determining a current target recovery torque of the vehicle according to the first state information and the second state information in response to the first state information and the second state information meeting preset coasting energy recovery conditions;
the target recovery torque is executed to perform coasting energy recovery of the vehicle.
Optionally, the first state information includes a position of the vehicle and a speed of the vehicle, the second state information includes a position of the front target,
the first state information and the second state information satisfy a preset coasting energy recovery condition, including:
in response to a difference between the distance between the position of the vehicle and the position of the forward target and the preset safe distance being less than a first distance threshold, and a difference between the vehicle speed and a preset target vehicle speed being greater than a first speed threshold, wherein,
the safe distance and the target vehicle speed are set according to the type of the front target, the first distance threshold value represents a maximum distance difference value that satisfies the coasting energy recovery condition, and the first speed threshold value represents a minimum speed difference value that satisfies the coasting energy recovery condition.
Optionally, the determining, by calculation, the current target recovery torque of the vehicle according to the first state information and the second state information includes:
the calculation formula of the target recovery torque is as follows:
T 1 ＝m*a target +T 2 +T P +T I
wherein T is 1 Represents the target recovery torque, m represents the weight of the vehicle, a target Indicating the target deceleration, T 2 Representing the running resistance moment, T P Representing P torque, T I Indicating I torque.
Optionally, the first state information includes a position and a vehicle speed of the vehicle, the second state information includes a position and a speed of a front target, and the method further includes:
in response to the front target being a non-stationary target, inquiring a preset target deceleration table to obtain the target deceleration a based on a difference between the current speed of the vehicle and the speed of the front target and a difference between a distance between the position of the vehicle and the position of the front target and a preset safe distance target ；
In response to the front target being a stationary target, the target deceleration a target The calculation formula is as follows:
wherein v is target Representing a preset target vehicle speed, v current Represents the current speed of the vehicle, d target Representing the distance between the position of the vehicle and the position of the front target, d safe Representing the safe distance.
Optionally, the calculation formula of the P torque is as follows:
T P ＝P*(a target -a actual )
the calculation formula of the I torque is as follows:
T I ＝I∫dt*(a target -a actual )
wherein P and I are calibratable parameters, t represents time, a target Indicating a target deceleration, a actual Indicating the actual deceleration.
Optionally, the actual deceleration a actual The calculation formula of (2) is as follows:
wherein v is current Representing the current speed of the vehicle, v 1 Representing the speed of the vehicle before a plurality of sampling periods, t 1 Representing a number of sampling periods.
Optionally, before executing the target recovery torque for coasting energy recovery of the vehicle, the method further comprises:
and in response to the target recovery torque being greater than the minimum torque which can be provided by the motor at present, compensating the target recovery torque by a vehicle body electronic stability system, wherein the compensation torque corresponding to the compensation is equal to the difference value between the target recovery torque and the minimum torque which can be provided by the motor at present.
The second aspect of the present application also provides a coasting energy recovery device of a vehicle, comprising:
the acquisition module is used for responding to the detection that the vehicle enters a sliding mode and acquiring current first state information of the vehicle and current second state information of a front target;
the calculation module is used for responding to the first state information and the second state information to meet preset sliding energy recovery conditions, and determining the current target recovery torque of the vehicle according to the first state information and the second state information;
and the execution module is used for executing the target recovery torque to recover the sliding energy of the vehicle.
A third aspect of the present application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method as described above when executing the computer program.
A fourth aspect of the present application also provides a vehicle comprising the apparatus of the second aspect or the electronic device of the third aspect.
From the above, it can be seen that, according to the method, the device, the electronic device and the vehicle for recovering the sliding energy of the vehicle, when the vehicle is detected to enter the sliding mode, the current first state information and the current second state information of the front target of the vehicle are obtained. And judging whether the first state information and the second state information meet preset coasting energy recovery conditions, and if so, determining the current target recovery torque of the vehicle through calculation according to the first state information and the second state information. According to the sliding energy recovery method, the target recovery torque in the sliding process of the vehicle can be automatically adjusted, compared with a traditional fixed recovery mode, the target recovery torque can be calculated and adjusted in real time according to the front target, the target recovery torque is executed to conduct sliding energy recovery of the vehicle, the purpose of maximum sliding energy recovery is achieved, and the sliding energy recovery efficiency is improved.
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In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a flow chart of a method of recovering coasting energy of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic representation of a coasting energy recovery condition according to an embodiment of the present application;
FIG. 3 is a schematic view of a coasting energy recovery device of a vehicle according to an embodiment of the present application;
fig. 4 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings.
It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
In the related art, in order to enhance the braking performance of an electric vehicle, an electromagnetic braking function is added to a part of controllers of the electric vehicle. In the electromagnetic braking loop, when the motor rotates due to inertia or dragging, the motor cutting magnetic field generates induced electromotive force and forms current through the short circuit of the output stage bridge arm, and the faster the vehicle speed is, the larger the induced current is generated. Since the current in the inductor cannot jump, the loop will generate an induced high voltage to maintain the current path. The induced voltage is of a short duration but higher than the supply voltage and can therefore be used to charge the electric vehicle. In short, the mechanical energy generated in the process of sliding the electric vehicle is converted into electric energy to charge the electric vehicle. The traditional coasting energy recovery mode is usually provided with three gears, a driver can freely select recovery intensity, and the deceleration is obtained by looking up a table according to the recovery intensity and the vehicle speed and the driving mode. The energy recovery method cannot adjust the recovery torque in real time according to the front target, so that a driver cannot slide smoothly to a safe distance area, and the maximum sliding energy recovery is affected.
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
The application provides a method for recovering sliding energy of a vehicle, referring to fig. 1, comprising the following steps:
step 102, in response to detecting that the vehicle enters a coasting mode, current first state information of the vehicle and current second state information of a front target are acquired.
Specifically, when it is detected that the vehicle enters the coasting mode, first state information of the vehicle and second state information of a front target that is current are acquired, the first state information may include current traveling information of the vehicle, and the second state information may include type, speed information, and position information of the front target. Front targets including vehicles, speed limit signs, traffic lights, etc., and front scenes including roundabout, curves, schools, railroads, etc., are identified by the onboard cameras, the adaptive cruise control system (Adaptive Cruise Control, ACC), and the map reconstruction information. Through discernment preceding target and place ahead scene, can judge the deceleration demand that comes in advance, and then can instruct the driver to loosen throttle and brake pedal at appropriate opportunity, make the vehicle enter into the mode of sliding, carry out the energy recuperation when sliding, promote whole car economic nature.
And 104, responding to the first state information and the second state information to meet a preset coasting energy recovery condition, and determining the current target recovery torque of the vehicle according to the first state information and the second state information.
When the vehicle slides to a safe distance, the speed of the vehicle is smaller than or equal to a preset target speed, and the deceleration process is completed, so that frequent conversion between driving and braking energy by a driver in the whole sliding process is not required, and energy loss is avoided. And when the first state information and the second state information are judged to meet the conditions, calculating to obtain the corresponding matched target recovery torque based on the first state information and the second state information.
Step 106, executing the target recovery torque to perform the coasting energy recovery of the vehicle.
When the torque is positive, the motor provides a driving torque, when the torque is negative, the motor provides a recovery torque, the recovery torque limited by the wheel end has a maximum value and a minimum value, and the target recovery torque is between the maximum value and the minimum value of the recovery torque. After the target recovery torque is determined, the target recovery torque is executed by the motor, and the vehicle is caused to coast to the safe area at a proper deceleration.
In some embodiments, the first state information includes a position of the vehicle and a vehicle speed, the second state information includes a position of a front target, and referring to fig. 2, the first state information and the second state information satisfy a preset coasting energy recovery condition, including:
in response to a difference between a distance between a position of the vehicle and a position of a forward target and a preset safe distance being less than a first distance threshold, and a difference between the vehicle speed and a preset target vehicle speed being greater than a first speed threshold, wherein the safe distance and the target vehicle speed are set according to a type of the forward target, the first distance threshold represents a maximum distance difference that satisfies the coasting energy recovery condition, and the first speed threshold represents a minimum speed difference that satisfies the coasting energy recovery condition.
Specifically, referring to fig. 2, the coasting energy recovery condition 20 includes a determination of a distance and a determination of a vehicle speed, specifically includes a condition 201 and a condition 202. According to different front target types, corresponding safe distance and target speed are preset, the safe distance is the shortest distance between the vehicle and the front target, the running safety can be guaranteed, and the safe speed in the safe distance range after the vehicle sliding is finished is the target speed. For example, when the front target is a vehicle, the safety distance is obtained through table lookup according to the vehicle speed of the front vehicle, and the higher the vehicle speed of the front vehicle is, the larger the safety distance is, or the safety distance can be set to a fixed value, and the target vehicle speed is set to the real-time speed of the front vehicle; when the front target is a speed limit sign, the safety distance is set to be 20m, the target vehicle speed is set to be the speed limit speed of the sign of the speed limit sign, and if the speed limit sign is 60km/h, the target vehicle speed is 60km/h. When the front target or the front scene is of other types, the matched safe distance and the target vehicle speed can be set correspondingly, and the method is not particularly limited.
After the front target or the front scene is determined, the distance between the position of the vehicle and the position of the front target and the difference between the vehicle speed and the target vehicle speed are calculated, and the first distance threshold value is set to 20m and the first speed threshold value is set to 4km/h in this embodiment. For example, when the front target is a vehicle, if the difference between the distance between the own vehicle and the front vehicle and the safe distance is greater than 20m, and the real-time speed difference between the own vehicle and the front vehicle exceeds 4km/h, the own vehicle meets the sliding energy recovery condition, and after the target recovery torque is calculated and determined, the own vehicle can smoothly slide to the safe distance area.
It should be noted that the vehicle coasting process is a deceleration process in which there is a deceleration demand, and if the difference between the distance between the position of the vehicle and the position of the front target and the safe distance exceeds the first distance threshold, it indicates that the current position of the vehicle is farther from the position of the front target, the vehicle does not have the deceleration demand, and thus it is not necessary to perform coasting energy recovery. After the vehicle runs for a period of time, the distance between the vehicle and the front target is gradually shortened, when the difference value between the distance between the vehicle and the front target and the safety distance is smaller than a first distance threshold value, a driver can release a pedal, the vehicle executes sliding energy recovery, and the speed of the vehicle is reduced to the target speed when the vehicle slides within the safety distance range.
In some embodiments, the first state information and the second state information meet a preset coasting energy recovery condition, and a pedal release prompt message is sent to prompt a driver to release a pedal and enter a vehicle coasting mode. During actual driving, the driver often cannot decide when to release the accelerator pedal to smoothly slide to the front deceleration region, resulting in unnecessary drive and brake energy conversion losses. Therefore, when the coasting energy recovery condition is satisfied, a pedal release prompt message may be issued to the driver to assist the driver in determining when to release the pedal.
In some embodiments, if the difference between the distance between the vehicle and the front target and the safety distance is less than a second distance threshold, and the difference between the vehicle speed and the preset target vehicle speed is greater than a second speed threshold, a brake pedal depression prompt message is sent. Specifically, when the vehicle slides to approach the safety distance, if the vehicle speed is too large and the difference value between the vehicle speed and the target vehicle speed exceeds the second speed threshold, the driver needs to be prompted to step on the brake pedal so as to ensure the driving safety. Illustratively, the second distance threshold may be 5m and the second speed threshold may be 2km/h.
In some embodiments, the determining the current target recovery torque of the vehicle by calculation according to the first state information and the second state information includes:
the calculation formula of the target recovery torque is as follows:
T 1 ＝m*a target +T 2 +T P +T I formula (1)
Wherein T is 1 Represents the target recovery torque, m represents the weight of the vehicle, a target Indicating the target deceleration, T 2 Representing the running resistance moment, T P Representing P torque, T I Indicating I torque.
In some embodiments, the first status information includes a position and a vehicle speed of the vehicle, the second status information includes a position and a speed of a forward target, the method further comprising:
in response to the front target being a non-stationary target, inquiring a preset target deceleration table to obtain the target deceleration a based on a difference between the current speed of the vehicle and the speed of the front target and a difference between a distance between the position of the vehicle and the position of the front target and a preset safe distance target ；
Responsive to the front targetFor a static target, the target deceleration a target The calculation formula is as follows:
wherein v is target Representing a preset target vehicle speed, v current Represents the current speed of the vehicle, d target Representing the distance between the position of the vehicle and the position of the front target, d safe Representing the safe distance.
Specifically, the target deceleration a is calculated target Time division into two cases, when the front target is a non-stationary target, such as a vehicle, it is necessary to search the target deceleration table for the corresponding target deceleration a target . When the front target is a static target, the target deceleration a can be obtained through calculation according to the formula (2) target 。
In some embodiments, the running resistance torque T 2 The calculation formula is as follows:
T 2 =f×r formula (3)
Wherein F represents running resistance, and R represents rolling radius.
In some embodiments, the running resistance F is calculated as follows:
wherein C is D Represents the wind resistance coefficient, A represents the windward area, ρ represents the air density, v current Represents the current vehicle speed, m represents the vehicle body weight, g represents the gravitational acceleration, f represents a rolling resistance coefficient, α represents a road gradient angle, α=arctan (road gradient 0.01).
In some embodiments, the calculation formula for the P torque is as follows:
T P ＝P*(a target -a actual ) Formula (5)
The calculation formula of the I torque is as follows:
T I ＝I∫dt*(a target -a actual ) Formula (6)
Wherein P and I are calibratable parameters, t represents time, a target Indicating a target deceleration, a actual Indicating the actual deceleration.
The P torque and the I torque are calculated by a PI torque regulator, which is a linear controller that forms a control deviation according to a given value and an actual output value, and forms a control quantity by linearly combining the proportion and integral of the deviation, so as to control a controlled object. P represents a ratio, I represents an integral, the effect of the integral is based on the deviation amount, and the effect of the ratio is to increase the convergence rate. The P parameter and the I parameter can be set according to the difference value between the actual deceleration and the target deceleration, and the response of the vehicle can be improved by adding the P torque and the I torque into the target recovery torque, so that the vehicle can quickly adjust the actual deceleration to the target deceleration.
In some embodiments, the actual deceleration a actual The calculation formula of (2) is as follows:
wherein v is current Representing the current speed of the vehicle, v 1 Representing the speed of the vehicle before a plurality of sampling periods, t 1 Representing a number of sampling periods. For example, the sampling period may be 10ms, that is, the current state information of the vehicle is sampled every 10ms, and the number of sampling periods may be 5 sampling periods. By setting the sampling period, the target recovery torque of the vehicle can be adjusted in real time, and the maximum recovery of the sliding energy is realized.
In some embodiments, prior to executing the target recovery torque for coasting energy recovery of the vehicle, further comprising:
and in response to the target recovery torque being greater than the minimum torque which can be provided by the motor at present, compensating the target recovery torque by a vehicle body electronic stability system, wherein the compensation torque corresponding to the compensation is equal to the difference value between the target recovery torque and the minimum torque which can be provided by the motor at present.
Specifically, after the target recovery torque is calculated, the target recovery torque is limited by using the wheel end limiting minimum torque, so that the recovery torque executed by the final motor cannot exceed the wheel end limiting minimum torque. For example, when the remaining capacity of the power battery is greater than 85% or the battery temperature is lower than-10 ℃, the motor capacity is limited and the demand for the target recovery torque cannot be satisfied, and compensation of the recovery torque using the compensation torque is required to ensure that the vehicle can be decelerated safely. The compensation torque is provided by a vehicle body electronic stability system (Electronic Stability Program, ESP), the compensation torque is hydraulic compensation torque, and the compensation torque T 3 The calculation formula of (2) is as follows:
T 3 ＝T 1 -T 4 formula (8)
Wherein T is 1 Indicating the target recovery torque, T 4 Indicating the torque after wheel end limitation. For example, the torque after the wheel end limitation is-100 N.m, and the calculated target recovery torque T 1 At-500 N.m, the compensation torque T 3 Is-400 N.m. When the motor cannot provide enough recovery torque, the compensation torque can assist in reaching the value required by the target recovery torque, and the motor acts on the vehicle to ensure that the vehicle can realize maximum coasting energy recovery.
It should be noted that, the method of the embodiments of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present application, and the devices may interact with each other to complete the methods.
It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same inventive concept, the application also provides a sliding energy recovery device of the vehicle, corresponding to the method of any embodiment.
Referring to fig. 3, the coasting energy recovery device of the vehicle includes:
an obtaining module 302, configured to obtain, in response to detecting that the vehicle enters a coasting mode, current first state information of the vehicle and current second state information of a front target;
a calculation module 304, configured to determine a current target recovery torque of the vehicle according to the first state information and the second state information in response to the first state information and the second state information meeting a preset coasting energy recovery condition;
an execution module 306 for executing the target recovery torque for coasting energy recovery of the vehicle.
In some embodiments, the calculation module 304 further includes a control module that is configured to, in response to a difference between the distance between the location of the vehicle and the location of the forward target and a preset safe distance being less than a first distance threshold, and a difference between the vehicle speed and a preset target vehicle speed being greater than a first speed threshold, wherein,
the safe distance and the target vehicle speed are set according to the type of the front target, the first distance threshold value represents a maximum distance difference value that satisfies the coasting energy recovery condition, and the first speed threshold value represents a minimum speed difference value that satisfies the coasting energy recovery condition.
In some embodiments, the computing module 304 further comprises: the calculation formula of the target recovery torque is as follows:
T 1 ＝m*a target +T 2 +T P +T I
wherein the method comprises the steps of，T 1 Represents the target recovery torque, m represents the weight of the vehicle, a target Indicating the target deceleration, T 2 Representing the running resistance moment, T P Representing P torque, T I Indicating I torque.
In some embodiments, the computing module 304 further comprises: in response to the front target being a non-stationary target, inquiring a preset target deceleration table to obtain the target deceleration a based on a difference between the current speed of the vehicle and the speed of the front target and a difference between a distance between the position of the vehicle and the position of the front target and a preset safe distance target ；
In response to the front target being a stationary target, the target deceleration a target The calculation formula is as follows:
wherein v is target Representing a preset target vehicle speed, v current Represents the current speed of the vehicle, d target Representing the distance between the position of the vehicle and the position of the front target, d safe Representing the safe distance.
In some embodiments, the computing module 304 further comprises:
the calculation formula of the P torque is as follows:
T P ＝P*(a target -a actual )
the calculation formula of the I torque is as follows:
T I ＝I∫dt*(a target -a actual )
wherein P and I are calibratable parameters, t represents time, a target Indicating a target deceleration, a actual Indicating the actual deceleration.
In some embodiments, the computing module 304 further comprises:
the actual deceleration a actual The calculation formula of (2) is as follows:
wherein v is current Representing the current speed of the vehicle, v 1 Representing the speed of the vehicle before a plurality of sampling periods, t 1 Representing a number of sampling periods.
In some embodiments, a compensation module 308 is further included for compensating the target recovery torque by the body electronic stability system in response to the target recovery torque being greater than a minimum torque that the motor is currently capable of providing, the compensation corresponding to a compensation torque that is equal to a difference between the target recovery torque and the minimum torque that the motor is currently capable of providing.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.
The device of the foregoing embodiment is used to implement the corresponding method for recovering the sliding energy of the vehicle in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein.
Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for recovering the sliding energy of the vehicle according to any embodiment when executing the program.
Fig. 4 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The electronic device of the foregoing embodiment is configured to implement the method for recovering the sliding energy of the vehicle according to any one of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, corresponding to any of the above-described embodiment methods, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the coasting energy recovery method of the vehicle according to any of the above-described embodiments.
The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
The storage medium of the above embodiment stores computer instructions for causing the computer to execute the method for recovering the coasting energy of the vehicle according to any one of the above embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the application (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the present application, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform on which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements and/or the like which are within the spirit and principles of the embodiments are intended to be included within the scope of the present application.
Claims (10)
1. A method of recovering coasting energy of a vehicle, comprising:
in response to detecting that the vehicle enters a coasting mode, acquiring current first state information of the vehicle and current second state information of a front target;
determining a current target recovery torque of the vehicle according to the first state information and the second state information in response to the first state information and the second state information meeting preset coasting energy recovery conditions;
the target recovery torque is executed to perform coasting energy recovery of the vehicle.
2. The method of claim 1, wherein the first status information includes a position of the vehicle and a speed of the vehicle, the second status information includes a position of a front target,
the first state information and the second state information satisfy a preset coasting energy recovery condition, including:
in response to a difference between the distance between the position of the vehicle and the position of the forward target and the preset safe distance being less than a first distance threshold, and a difference between the vehicle speed and a preset target vehicle speed being greater than a first speed threshold, wherein,
the safe distance and the target vehicle speed are set according to the type of the front target, the first distance threshold value represents a maximum distance difference value that satisfies the coasting energy recovery condition, and the first speed threshold value represents a minimum speed difference value that satisfies the coasting energy recovery condition.
3. The method of claim 1, wherein computationally determining the current target recovery torque of the vehicle based on the first and second status information comprises:
the calculation formula of the target recovery torque is as follows:
T 1 ＝m*a target +T 2 +T P +T I
wherein T is 1 Represents the target recovery torque, m represents the weight of the vehicle, a target Indicating the target deceleration, T 2 Representing the running resistance moment, T P Representing P torque, T I Indicating I torque.
4. A method according to claim 3, wherein the first status information includes a position and a vehicle speed of the vehicle and the second status information includes a position and a speed of a front target, the method further comprising:
in response to the front target being a non-stationary target, inquiring a preset target deceleration table to obtain the target deceleration a based on a difference between the current speed of the vehicle and the speed of the front target and a difference between a distance between the position of the vehicle and the position of the front target and a preset safe distance target ；
In response to the front target being a stationary target, the target deceleration a target The calculation formula is as follows:
wherein v is target Representing a preset target vehicle speed, v current Represents the current speed of the vehicle, d target Representing the distance between the position of the vehicle and the position of the front target, d safe Representing the safe distance.
5. A method according to claim 3, further comprising:
the calculation formula of the P torque is as follows:
T P ＝P*(a target -a actual )
the calculation formula of the I torque is as follows:
T I ＝I∫dt*(a target -a actual )
wherein P and I are calibratable parameters, t represents time, a target Indicating a target deceleration, a actual Indicating the actual deceleration.
6. The method as recited in claim 5, further comprising:
the actual deceleration a actual The calculation formula of (2) is as follows:
wherein v is current Representing the current speed of the vehicle, v 1 Representing the speed of the vehicle before a plurality of sampling periods, t 1 Representing a number of sampling periods.
7. The method of claim 1, further comprising, prior to performing the target recovery torque for coasting energy recovery of the vehicle:
and in response to the target recovery torque being greater than the minimum torque which can be provided by the motor at present, compensating the target recovery torque by a vehicle body electronic stability system, wherein the compensation torque corresponding to the compensation is equal to the difference value between the target recovery torque and the minimum torque which can be provided by the motor at present.
8. A coasting energy recovery device of a vehicle, comprising:
the acquisition module is used for responding to the detection that the vehicle enters a sliding mode and acquiring current first state information of the vehicle and current second state information of a front target;
the calculation module is used for responding to the first state information and the second state information to meet preset sliding energy recovery conditions, and determining the current target recovery torque of the vehicle according to the first state information and the second state information;
and the execution module is used for executing the target recovery torque to recover the sliding energy of the vehicle.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the program is executed by the processor.
10. A vehicle comprising the apparatus of claim 8 or the electronic device of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211180550.7A CN117799608A (en) | 2022-09-26 | 2022-09-26 | Vehicle sliding energy recovery method and device, electronic equipment and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211180550.7A CN117799608A (en) | 2022-09-26 | 2022-09-26 | Vehicle sliding energy recovery method and device, electronic equipment and vehicle |
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| Publication Number | Publication Date |
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| CN117799608A true CN117799608A (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211180550.7A Pending CN117799608A (en) | 2022-09-26 | 2022-09-26 | Vehicle sliding energy recovery method and device, electronic equipment and vehicle |
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| Country | Link |
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| CN (1) | CN117799608A (en) |
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2022
- 2022-09-26 CN CN202211180550.7A patent/CN117799608A/en active Pending
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