WO2024103673A1

WO2024103673A1 - Electric braking energy recovery control method and apparatus for vehicle

Info

Publication number: WO2024103673A1
Application number: PCT/CN2023/096224
Authority: WO
Inventors: 齐彪; 周安德; 于建顺; 范丽冰; 李西宁
Original assignee: 中车株洲电力机车有限公司
Priority date: 2022-11-14
Filing date: 2023-05-25
Publication date: 2024-05-23
Also published as: CN115648955A

Abstract

An electric braking energy recovery control method and apparatus for a vehicle. According to the electric braking energy recovery control method for a vehicle provided by the present application, when an estimated storage electric quantity of an energy storage power supply is greater than or equal to estimated residual energy, after an electric braking instruction is received, residual recovered braking energy which is not consumed by an assisting system is controlled to be stored to the energy storage power supply; when the estimated storage electric quantity of the energy storage power supply is less than the estimated residual energy, electric braking force of a vehicle is reduced to reduce recoverable energy of electric braking, so that the residual recovered braking energy which is not consumed by the assisting system can be completely stored to the energy storage power supply. Additionally, no brake chopper circuit or brake resistor needs to be provided in the system, so that the complexity of the system is reduced, the vehicle device arrangement space is saved, and the vehicle costs are reduced.

Description

A method and device for controlling electric braking energy recovery of a vehicle

This application claims the priority of the Chinese patent application filed with the China Patent Office on November 14, 2022, with application number 202211417538.3 and invention name “A vehicle electric braking energy recovery control method and device”, all contents of which are incorporated by reference in this application.

Technical Field

The present application belongs to the technical field of hybrid vehicles, and in particular, relates to a method and device for controlling electric braking energy recovery of a vehicle.

Background technique

Hybrid locomotives and vehicles generally have their own power systems and do not need to rely on the railway line contact network for current collection and power supply. Therefore, they are widely used for operation and operation in lines and scenarios without contact networks. The vehicle hybrid system can be composed of various forms, generally composed of a unidirectional power supply system such as an internal combustion engine, a hydrogen fuel cell system, and a chargeable and dischargeable energy storage power supply system to provide power to the vehicle. The unidirectional power supply system and the chargeable and dischargeable energy storage system are combined to provide power for the vehicle, which can not only enable the vehicle to obtain good power performance, but also the energy storage system can recover the electric braking energy during vehicle braking, improve the vehicle's energy utilization efficiency, and make the locomotive vehicle more environmentally friendly and energy-saving.

In the prior art hybrid locomotive vehicle, the electric braking energy recovery method is: when the vehicle brakes, part of the fed-back electric braking energy is used to charge the on-board energy storage power supply, part of it is used for consumption by the vehicle auxiliary load, and the remaining part of the energy is consumed by the on-board braking resistor by opening the chopper circuit of the traction inverter. However, the above method will have the following problems: on the one hand, when the train starts to apply electric braking, if the energy storage power supply has a large amount of stored electricity, the amount of electricity that can continue to be stored is small, and the amount of braking recovery energy to be consumed is large. In addition to a part consumed by the vehicle auxiliary load, the remaining part of the braking recovery energy must be consumed by the braking resistor, otherwise the braking recovery energy cannot be released, which may cause the vehicle system to malfunction. However, this method will cause a waste of part of the braking recovery energy; on the other hand, a braking chopper circuit must be set up in the vehicle system, a braking resistor must be configured, and an energy release channel must be provided, which increases the complexity of the system, occupies the space for vehicle equipment layout, and increases the vehicle cost.

Therefore, how to avoid wasting braking recovery energy and not need to set up a braking chopper circuit and a braking resistor in the system is a technical problem that needs to be solved urgently.

Summary of the invention

The purpose of the present application is to provide a vehicle electric braking energy recovery control method; the vehicle electric braking energy recovery control method provided by the present application, when the estimated stored power of the energy storage power supply is less than the estimated remaining energy, reduces the electric braking force of the vehicle, thereby reducing the energy that can be recovered by electric braking, so that the remaining braking recovery energy that has not been consumed by the auxiliary system can be fully stored in the energy storage power supply, and in this system, there is no need to set up a braking chopper circuit and a braking resistor, which reduces the complexity of the system, saves vehicle equipment layout space, and reduces vehicle costs.

The technical solutions provided by this application are as follows:

A method for controlling electric braking energy recovery of a vehicle, the method comprising:

Obtaining the operating status of the vehicle;

Determine whether the running state is a coasting state, and if so, obtain the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply;

Obtaining estimated braking recovery energy, estimated auxiliary system consumption energy, and estimated energy storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply;

Obtaining estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system consumption energy;

Determine whether the estimated stored power of the energy storage power supply is greater than or equal to the estimated remaining energy, and if so, after receiving the electric braking command, control the remaining braking recovery energy that has not been consumed by the auxiliary system to be stored in the energy storage power supply;

If not, the electric braking force of the vehicle is reduced so that the remaining braking recovery energy can be stored in the energy storage power supply.

Preferably, obtaining the estimated braking recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power supply storage capacity according to the vehicle speed, the power of the auxiliary system, and the power state of the energy storage power supply includes:

According to the vehicle speed, an estimated braking recovery energy is obtained;

According to the power of the auxiliary system, an estimated auxiliary system consumption energy is obtained;

According to the current power of the energy storage power supply, the estimated storage power of the energy storage power supply is obtained.

Preferably, obtaining the estimated braking recovery energy according to the vehicle speed includes:

According to the vehicle speed, query the recovery energy comparison table to obtain the estimated braking recovery energy;

The recovery energy comparison table includes the corresponding relationship between vehicle speed and expected braking recovery energy.

Preferably, the method further comprises:

The recovery energy comparison table is generated according to the electric braking curve, wherein the electric braking curve is a relationship curve between the electric braking force and the vehicle speed.

Preferably, obtaining the estimated auxiliary system energy consumption according to the auxiliary system power includes:

The estimated auxiliary system energy consumption is obtained according to the power and estimated time of the auxiliary system. The estimated time is the estimated time required for the vehicle to reduce its speed to zero after the electric braking starts.

The present application also provides a vehicle electric brake energy recovery control device, comprising:

A first acquisition module, used to acquire the running status of the vehicle;

A first judging module is used to judge whether the running state is a coasting state;

A second acquisition module is used to acquire the vehicle speed, the power of the auxiliary system and the current power of the energy storage power supply when the operating state is the coasting state;

A first processing module is used to obtain the estimated braking recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power supply storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply;

A second processing module, configured to obtain an estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system consumption energy;

A second judgment module is used to judge whether the estimated energy storage power supply storage capacity is greater than or equal to the estimated remaining energy;

a control module, configured to control the remaining braking recovery energy not consumed by the auxiliary system to be stored in the energy storage power supply after receiving an electric braking command when the estimated stored power of the energy storage power supply is greater than or equal to the estimated remaining energy;

The adjustment module is used to reduce the electric braking force of the vehicle when the estimated stored power of the energy storage power supply is less than the estimated remaining energy, so that the remaining braking recovery energy can be stored in the energy storage power supply.

Preferably, when the first processing module obtains the estimated braking recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power supply storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply, the first processing module is specifically used to:

Preferably, when the first processing module obtains the estimated braking recovery energy according to the vehicle speed, it is specifically used to:

Preferably, it also includes:

A generating module generates the recovery energy comparison table according to an electric braking curve, wherein the electric braking curve is a relationship curve between the electric braking force and the vehicle speed.

The present application also provides a hybrid vehicle, comprising the electric braking energy recovery control device as described in any one of the above items.

Compared with the prior art, the present application provides a vehicle electric brake energy recovery control method, the method comprising: obtaining the running state of the vehicle; judging whether the running state is a coasting state, and if so, obtaining the vehicle speed, the power of the auxiliary system and the current power of the energy storage power supply; obtaining the estimated braking recovery energy, the estimated auxiliary system energy consumption and the estimated energy storage power storage according to the vehicle speed, the power of the auxiliary system and the current power of the energy storage power; obtaining the estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system energy consumption; judging whether the estimated energy storage power storage is greater than or equal to the estimated remaining energy, and if so, obtaining the estimated remaining energy after receiving the vehicle speed, the power of the auxiliary system and the current power of the energy storage power supply; obtaining the estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system energy consumption; obtaining the estimated remaining energy after receiving the vehicle speed, the power of the auxiliary system and the current power of the energy storage power supply ... After receiving the electric braking command, the remaining braking recovery energy that has not been consumed by the auxiliary system is controlled to be stored in the energy storage power supply; if not, the electric braking force of the vehicle is reduced so that the remaining braking recovery energy can be stored in the energy storage power supply. When the estimated storage capacity of the energy storage power supply is less than the estimated remaining energy, the present application reduces the electric braking force of the vehicle, thereby reducing the energy that can be recovered by electric braking, so that the remaining braking recovery energy that has not been consumed by the auxiliary system can be fully stored in the energy storage power supply. In addition, there is no need to set up a braking chopper circuit and a braking resistor in this system, which reduces the complexity of the system, saves vehicle equipment layout space, and reduces vehicle costs.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. picture.

FIG1 is a flow chart of a vehicle electric braking energy recovery control method disclosed in an embodiment of the present application;

FIG2 is a schematic diagram of an electric braking curve disclosed in an embodiment of the present application;

FIG3 is a schematic diagram of the structure of an electric braking energy recovery control device for a vehicle disclosed in an embodiment of the present application.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no technical substantive significance. Any modification of the structure, proportion, size, etc. Changes in the relationship or adjustments in size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

As shown in FIG1 , an embodiment of the present application provides a method for controlling electric braking energy recovery of a vehicle, the method comprising:

S101, obtaining the running status of the vehicle;

S102, determining whether the running state is a coasting state, and if so, obtaining the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply;

In this embodiment, the coasting state is a state in which the vehicle has neither traction nor braking. The communication between the electric brake energy recovery control device and the vehicle network can be used to obtain the real-time signal of the handle level of the driver controller to determine whether the vehicle's operating state is in the coasting state. If the vehicle's operating state is in the coasting state, the vehicle speed, the power of the auxiliary system and the current power of the energy storage power supply are obtained.

S103, obtaining estimated braking recovery energy, estimated auxiliary system consumption energy, and estimated energy storage power of the energy storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power;

In this embodiment, the estimated braking recovery energy is the energy that is expected to be recovered during the vehicle's electric braking process, the estimated auxiliary system consumption energy is the energy that is expected to be consumed from the start of electric braking to the time when the vehicle speed drops to 0 or the braking process, and the estimated energy storage power supply storage capacity is the maximum capacity of the energy storage power supply minus the current capacity of the energy storage power supply.

S104, obtaining an estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system consumption energy;

In this embodiment, the estimated remaining energy can be obtained by subtracting the estimated auxiliary system consumption energy from the estimated braking recovery energy.

S105, determining whether the estimated stored power of the energy storage power supply is greater than or equal to the estimated remaining energy, and if so, after receiving the electric braking command, controlling the remaining braking recovery energy not consumed by the auxiliary system to be stored in the energy storage power supply;

In this embodiment, if the estimated power stored in the energy storage power supply is equal to the estimated remaining energy, then after receiving the electric braking command, the remaining braking recovery energy that has not been consumed by the auxiliary system is controlled to be stored in the energy storage power supply; if the estimated power stored in the energy storage power supply is greater than the estimated remaining energy, the on-board energy source including the internal combustion power generator or the hydrogen fuel cell is controlled to charge the energy storage power supply until the estimated power stored in the energy storage power supply is equal to the estimated remaining energy, and the charging is stopped. After receiving the electric braking command, the remaining braking recovery energy that has not been consumed by the auxiliary system is controlled to be stored in the energy storage power supply, so that the storage The energy source not only has sufficient power when the vehicle is in coasting state, but also can completely absorb the remaining braking recovery energy that has not been consumed by the auxiliary system after the vehicle is electrically braked.

S106: If not, reduce the electric braking force of the vehicle so that the remaining braking recovery energy can be stored in the energy storage power supply.

In this embodiment, if the estimated stored power of the energy storage power supply is less than the estimated remaining energy, it means that the current power of the energy storage power supply is relatively large and cannot fully absorb the remaining braking recovery energy that has not been consumed by the auxiliary system. Therefore, the vehicle's electric braking force is reduced to reduce the energy that can be recovered by electric braking, so that the remaining braking recovery energy that has not been consumed by the auxiliary system can be fully stored in the energy storage power supply.

As an implementation manner, in the embodiment of the present application, step S103 includes:

S201, obtaining estimated braking recovery energy according to vehicle speed;

In this embodiment, the pre-stored recovery energy comparison table may be queried according to the vehicle speed to obtain the estimated braking recovery energy corresponding to the vehicle speed.

S202, obtaining an estimated auxiliary system energy consumption according to the auxiliary system power;

In this embodiment, the estimated auxiliary system energy consumption can be calculated based on the power of the auxiliary system and the estimated time required for the vehicle to reduce its speed to zero from the start of electric braking or the duration of the braking process.

S203: Obtain an estimated amount of stored power of the energy storage power source according to the current amount of power of the energy storage power source.

In this embodiment, the estimated storage capacity of the energy storage power supply can be obtained by subtracting the current capacity of the energy storage power supply from the maximum capacity of the energy storage power supply.

As an implementation manner, in the embodiment of the present application, step S201 includes:

S301, querying a recovery energy comparison table according to the vehicle speed to obtain an estimated braking recovery energy;

Among them, the recovery energy comparison table contains the corresponding relationship between vehicle speed and expected braking recovery energy.

In this embodiment, according to the vehicle speed, a pre-stored recovery energy comparison table is queried to obtain the estimated braking recovery energy corresponding to the vehicle speed.

As an implementation manner, in the embodiment of the present application, the method further includes:

S401. Generate a recovery energy comparison table according to an electric braking curve, wherein the electric braking curve is a relationship curve between electric braking force and vehicle speed.

In this embodiment, according to the electric braking curve pre-designed for the vehicle, that is, the relationship curve between the electric braking force and the speed, the electric braking curve is shown in FIG2 , and a numerical iteration method is used to calculate the braking recovery energy Q1 when the vehicle starts braking from the coasting speed to a complete stop when the vehicle uses full normal braking, and a recovery energy comparison table of vehicle speed and braking recovery energy is established and stored. The formula for calculating Q1 is as follows:

Wherein, i is the counting point of vehicle speed, n is the total counting point of vehicle speed, F _i is the electric braking force corresponding to speed V _i (obtained by comparing with the electric braking curve), η ₁ , η ₂ , η ₃ respectively represent the efficiency of the gearbox of the vehicle, the efficiency of the traction motor of the vehicle, and the efficiency of the traction converter of the vehicle, Δt _i is the time consumed by the vehicle to decelerate from V _i to V _i-1 , and Q1 is the braking recovery energy;

The calculation formula of Δt _i is:

Among them, a is the braking deceleration, which is determined during train design and is a fixed value.

When executing this step, it includes but is not limited to calculating and storing all the curves in FIG. 2 ; when no command to reduce the electric braking force of the vehicle is received, the 100% curve is executed by default.

As an implementation manner, in the embodiment of the present application, step S202 includes:

S501. Obtain an estimated auxiliary system energy consumption according to the auxiliary system power and estimated time, wherein the estimated time is the estimated time required for the vehicle to reduce its speed to zero after the electric braking starts.

In this embodiment, through the communication between the electric brake energy recovery control device and the vehicle network, The power P2 of the auxiliary system is obtained. According to the power P2 of the auxiliary system and the estimated time, the estimated auxiliary system energy consumption Q2 is calculated using the following formula, where the estimated time is the estimated time required for the vehicle to reduce its speed from the start of electric braking to zero. The calculation formula of Q2 is as follows:

Q2＝P2*△t，△t＝V/a

Among them, P2 is the power of the auxiliary system, Q2 is the estimated energy consumption of the auxiliary system, △t is the estimated time required for the vehicle to reduce its speed from the start of electric braking to 0, V is the speed of the vehicle in the idling state (that is, the speed obtained in step S102, which is also the speed before the start of electric braking), a is the braking deceleration, which is determined during the train design and is a fixed value.

As shown in FIG3 , the present application also provides a vehicle electric brake energy recovery control device, comprising:

A first acquisition module 301 is used to acquire the running status of the vehicle;

The first judging module 302 is used to judge whether the running state is a coasting state;

The second acquisition module 303 is used to acquire the vehicle speed, the power of the auxiliary system and the current power of the energy storage power supply when the running state is the coasting state;

The first processing module 304 is used to obtain the estimated braking recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power;

The second processing module 305 is used to obtain the estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system consumption energy;

The second judgment module 306 is used to judge whether the estimated energy storage power supply storage capacity is greater than or equal to the estimated remaining energy;

The control module 307 is used to control the remaining braking recovery energy not consumed by the auxiliary system to be stored in the energy storage power supply after receiving the electric braking command when the power stored in the energy storage power supply is estimated to be greater than or equal to the estimated remaining energy;

The adjustment module 308 is used to reduce the electric braking force of the vehicle when the estimated stored power of the energy storage power supply is less than the estimated remaining energy, so that the remaining braking recovery energy can be stored in the energy storage power supply.

As an implementation mode, in the embodiment of the present application, when the first processing module obtains the estimated braking recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power supply storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply, it is specifically used to:

According to the vehicle speed, the estimated braking recovery energy is obtained;

According to the power of the auxiliary system, the estimated energy consumption of the auxiliary system is obtained;

As an implementation manner, in the embodiment of the present application, when the first processing module obtains the estimated braking recovery energy according to the vehicle speed, it is specifically used to:

As an implementation manner, in the embodiment of the present application, it also includes:

The generation module generates a recovery energy comparison table according to the electric braking curve, wherein the electric braking curve is a relationship curve between the electric braking force and the vehicle speed.

The present application also provides a hybrid vehicle, comprising any one of the above-mentioned electric braking energy recovery control devices.

It should be understood that the use of "system", "device", "unit" and/or "module" in this application is only a method for distinguishing different components, elements, parts, parts or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.

The embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

A method for controlling electric braking energy recovery of a vehicle, characterized in that the method comprises:

Obtaining the operating status of the vehicle;

Determine whether the running state is a coasting state, and if so, obtain the vehicle speed, the power of the auxiliary system, and the power state of the energy storage power supply;

Obtaining estimated braking recovery energy, estimated auxiliary system consumption energy, and estimated energy storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply;

Obtaining estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system consumption energy;

Determine whether the estimated stored power of the energy storage power supply is greater than or equal to the estimated remaining energy, and if so, after receiving the electric braking command, control the remaining braking recovery energy that has not been consumed by the auxiliary system to be stored in the energy storage power supply;

If not, the electric braking force of the vehicle is reduced so that the remaining braking recovery energy can be stored in the energy storage power supply.
The electric brake energy recovery control method according to claim 1 is characterized in that the estimated braking recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power supply storage power are obtained according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply, including:

According to the vehicle speed, an estimated braking recovery energy is obtained;

According to the power of the auxiliary system, an estimated auxiliary system consumption energy is obtained;

According to the current power of the energy storage power supply, the estimated storage power of the energy storage power supply is obtained.
The electric brake energy recovery control method according to claim 2 is characterized in that obtaining the estimated brake recovery energy according to the vehicle speed comprises:

According to the vehicle speed, query the recovery energy comparison table to obtain the estimated braking recovery energy;

The recovery energy comparison table includes the corresponding relationship between vehicle speed and expected braking recovery energy.
The electric brake energy recovery control method according to claim 3 is characterized in that the method further comprises:

The recovery energy comparison table is generated according to the electric braking curve, wherein the electric braking curve This is the relationship curve between electric braking force and vehicle speed.
The electric brake energy recovery control method according to claim 4 is characterized in that obtaining the estimated auxiliary system energy consumption according to the power of the auxiliary system comprises:

The estimated auxiliary system energy consumption is obtained according to the power and estimated time of the auxiliary system. The estimated time is the estimated time required for the vehicle to reduce its speed to zero after the electric braking starts.
A vehicle electric brake energy recovery control device, characterized by comprising:

A first acquisition module, used to acquire the running status of the vehicle;

A first judging module is used to judge whether the running state is a coasting state;

A second acquisition module is used to acquire the vehicle speed, the power of the auxiliary system and the current power of the energy storage power supply when the operating state is the coasting state;

A first processing module is used to obtain the estimated braking recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power supply storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply;

A second processing module, configured to obtain an estimated remaining energy according to the estimated braking recovery energy and the estimated auxiliary system consumption energy;

A second judgment module is used to judge whether the estimated energy storage power supply storage capacity is greater than or equal to the estimated remaining energy;

a control module, configured to control the remaining braking recovery energy not consumed by the auxiliary system to be stored in the energy storage power supply after receiving an electric braking instruction when the estimated stored power of the energy storage power supply is greater than or equal to the estimated remaining energy;

The adjustment module is used to reduce the electric braking force of the vehicle when the estimated stored power of the energy storage power supply is less than the estimated remaining energy, so that the remaining braking recovery energy can be stored in the energy storage power supply.
The electric brake energy recovery control device according to claim 6 is characterized in that, when the first processing module obtains the estimated brake recovery energy, the estimated auxiliary system consumption energy, and the estimated energy storage power supply storage power according to the vehicle speed, the power of the auxiliary system, and the current power of the energy storage power supply, it is specifically used to:

According to the vehicle speed, an estimated braking recovery energy is obtained;

According to the power of the auxiliary system, an estimated auxiliary system consumption energy is obtained;

According to the current power of the energy storage power supply, the estimated storage power of the energy storage power supply is obtained.
The electric brake energy recovery control device according to claim 7 is characterized in that, when the first processing module obtains the estimated brake recovery energy according to the vehicle speed, it is specifically used to:

According to the vehicle speed, query the recovery energy comparison table to obtain the estimated braking recovery energy;

The recovery energy comparison table includes the corresponding relationship between vehicle speed and expected braking recovery energy.
The electric brake energy recovery control device according to claim 8, characterized in that it also includes:

A generating module generates the recovery energy comparison table according to an electric braking curve, wherein the electric braking curve is a relationship curve between the electric braking force and the vehicle speed.
A hybrid vehicle, characterized by comprising the electric brake energy recovery control device as described in any one of claims 6-9.