CN115284887A - Energy recovery control method, device, equipment, medium and vehicle - Google Patents
Energy recovery control method, device, equipment, medium and vehicle Download PDFInfo
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- CN115284887A CN115284887A CN202211017527.6A CN202211017527A CN115284887A CN 115284887 A CN115284887 A CN 115284887A CN 202211017527 A CN202211017527 A CN 202211017527A CN 115284887 A CN115284887 A CN 115284887A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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Abstract
The application provides a method and a device for controlling gliding energy recovery, which are applied to a whole vehicle control system of a vehicle, wherein the method comprises the following steps: estimating the deceleration of the vehicle when the vehicle executes the sliding energy recovery according to the relevant information of the recognition target in front of the vehicle and the running information of the vehicle during the running process of the vehicle; wherein the running information includes a current speed of the vehicle itself; acquiring a preset energy recovery torque comparison table, wherein the energy recovery torque comparison table records the mapping relation between a preset vehicle speed, a preset deceleration and a preset recovery torque value; under the condition that the mapping relation corresponding to the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table, calculating recovery torque values corresponding to the current vehicle speed and the deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculation function; and controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value.
Description
Technical Field
The present disclosure relates to the field of energy recovery, and in particular, to a method, an apparatus, a device, a computer-readable storage medium, and a vehicle for controlling energy recovery.
Background
In the related art, energy recovery systems provided in vehicles mostly adopt energy recovery modes of various fixed intensity levels. When the vehicle has the requirement of coasting energy recovery, the energy recovery mode with one intensity level is selected from the energy recovery modes with the multiple fixed intensity levels to perform energy recovery.
However, the energy recovery modes with multiple fixed intensity levels mean that the energy recovery modes can only be switched among the fixed energy recovery modes with several intensity levels, the number of the intensity levels of the energy recovery modes is limited, and the energy recovery modes with different intensity levels cannot meet various energy recovery requirements, and each energy recovery mode with fixed intensity levels has corresponding energy recovery torque and corresponding deceleration during coasting energy recovery, and when the driver performs coasting energy recovery, the driver can fix the intensity levels of the energy recovery modes and the corresponding deceleration. Therefore, the energy recovery mode with fixed intensity level is not flexible enough, and cannot provide simple and convenient driving experience.
Disclosure of Invention
In order to overcome the problems in the related art, the present application provides a method, an apparatus, a device, a computer readable storage medium, and a vehicle for controlling coasting energy recovery, which can solve the above problems.
According to a first aspect of embodiments of the present application, there is provided a method of controlling coasting energy recovery, the method comprising:
estimating the deceleration of the vehicle when the vehicle executes the sliding energy recovery according to the relevant information of the recognition target in front of the vehicle and the running information of the vehicle during the running process of the vehicle; wherein the running information includes a current speed of the vehicle itself;
acquiring a preset energy recovery torque comparison table, wherein the energy recovery torque comparison table records the mapping relation of a preset vehicle speed, a preset deceleration and a preset recovery torque value;
under the condition that the mapping relation corresponding to the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table, calculating recovery torque values corresponding to the current vehicle speed and the deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculation function;
and controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value.
According to a second aspect of an embodiment of the present application, there is provided a coasting energy recovery control device including:
the estimated deceleration unit is used for estimating the deceleration of the vehicle when the vehicle executes the sliding energy recovery according to the relevant information of the recognition target in front of the vehicle during the running process of the vehicle and the running information of the vehicle; wherein the running information includes a current speed of the vehicle itself;
the device comprises a query unit, a comparison unit and a comparison unit, wherein the query unit is used for acquiring a preset energy recovery torque comparison table, and the energy recovery torque comparison table records the mapping relation of a preset vehicle speed, a preset deceleration and a preset recovery torque value;
the calculating unit is used for calculating recovery torque values corresponding to the current vehicle speed and the estimated deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculating function under the condition that the mapping relation corresponding to the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table;
and the energy recovery unit is used for controlling the vehicle to carry out coasting energy recovery on the basis of the calculated recovery torque value.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including: a processor, a memory;
the memory for storing a computer program;
the processor is configured to execute the coasting energy recovery control method according to the first aspect by calling the computer program.
According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of controlling coasting energy recovery as described in the first aspect.
According to a fifth aspect of the embodiments of the present application, there is provided a vehicle including the coasting energy recovery control device according to the second aspect described above.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
the method and the device can predict the deceleration of the coasting energy recovery to be executed according to the relevant information of the recognition target in front of the vehicle and the running information of the vehicle in the running process of the vehicle, further compare the deceleration with the current vehicle speed with the energy recovery torque comparison table, and if no corresponding mapping relation exists in the energy recovery torque comparison table, calculate the energy recovery torque corresponding to the vehicle according to the mapping relation and the calculation function. After the energy recovery torque is determined, the application controls the vehicle to coast for energy recovery based on the determined torque.
The energy recovery torque is determined by utilizing the calculation function based on the estimated deceleration, so that the value of the energy recovery torque changes along with the change of the deceleration, namely, different energy recovery torques are corresponding to different decelerations, the energy recovery torque is not limited in a plurality of set fixed intensity levels and can be continuously changed, the coasting energy recovery mode of the vehicle can meet different energy recovery requirements, and the estimated deceleration can be provided when the vehicle coasts for energy recovery through the value of the energy recovery torque determined by the calculation function, so that the vehicle can smoothly fall to a target vehicle speed when arriving at a destination point when coasting energy recovery is carried out, and a driver does not need to additionally adjust. Therefore, the sliding energy recovery is more flexible, and the good driving experience is more simple and convenient.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a block diagram illustrating an architecture of a taxi energy recovery control system according to an exemplary embodiment of the present application.
FIG. 2 is a flow chart illustrating a method of controlling coasting energy recovery in accordance with an exemplary embodiment of the present application.
FIG. 3 is a schematic diagram illustrating a coasting energy recovery scenario in which deceleration is calculated according to an exemplary embodiment of the present application.
FIG. 4 is a schematic diagram illustrating a coasting energy recovery scenario in which deceleration is calculated according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of an electronic device in which a coasting energy recovery control device according to an exemplary embodiment of the present application is located.
FIG. 6 is a block diagram illustrating a coasting energy recovery control device according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.
The technical solution in the present application is described below by using specific embodiments and combining specific application scenarios.
FIG. 1 is an architectural diagram illustrating an energy recovery control system according to an exemplary embodiment of the present application. As shown in fig. 1, the energy recovery control system of the present application may include a vehicle control system 11, an information acquisition system 12, an energy recovery execution system 13, and a human-computer interaction system 14.
The vehicle control system 11 is connected with the information acquisition system 12, the energy recovery execution system 13 and the man-machine interaction system, and executes the sliding energy recovery control method in the application.
The information acquisition system 12 may be a radar detection system, a camera detection system, an intelligent navigation system, etc., which is not limited in this application. The information acquisition system 12 CAN acquire relevant information of targets such as a vehicle in front of the vehicle, a traffic light, a speed limit sign, a curve, a roundabout and the like, including information not limited to the speed of the vehicle in front, the distance from the vehicle to the vehicle in front, the color of the traffic light corresponding to the lane of the vehicle, the distance from the vehicle to the traffic light, the speed limit value of the speed limit sign, the distance from the vehicle to the speed limit sign, the curvature radius of the curve in front, the distance from the vehicle to the roundabout and the like, and send the information to the vehicle control system 11 through a CAN signal.
The energy recovery execution system 13 may be an electric drive system, a hydraulic brake control system, and the like, and the application is not limited thereto. The energy recovery execution system 13 may receive a coasting energy recovery torque request from the vehicle control system 11. For example, the coasting energy recovery torque request may be sent to the electric drive system to instruct the corresponding braking force to be provided based on the calculated recovery torque value, or may be sent to the electric drive system and the hydraulic brake control system to instruct the electric drive system to provide the corresponding braking force according to the maximum torque value that can be borne by the electric drive system and the hydraulic brake control system to provide the corresponding braking force according to the torque exceeding the maximum torque value that can be borne by the electric drive system. The energy recovery execution system 13 can implement different energy recovery strategies according to the torque value calculated by the vehicle control system 11, so as to implement the coasting energy recovery of the vehicle.
The man-machine interaction system 14 is provided with a self-adaptive energy recovery key, through which a driver CAN activate or close the self-adaptive energy recovery function, the man-machine interaction system 14 CAN send the key state to the vehicle control system 11 through a CAN signal, receive a prompt for energy recovery of the driver sent by the vehicle control system 11, display the prompt to the driver, and send an instruction for energy recovery to the vehicle control system 11 after the driver releases an accelerator pedal according to the prompt. The man-machine interaction system can realize that a driver can autonomously select and judge whether to start the self-adaptive energy recovery mode or carry out energy recovery operation.
FIG. 2 is a flow chart of a method for controlling coasting energy recovery in accordance with an exemplary embodiment. As shown in fig. 2, the method is applied to a vehicle control system of a vehicle. The method may comprise the steps of:
s201: estimating the deceleration of the vehicle when the vehicle executes the sliding energy recovery according to the relevant information of the recognition target in front of the vehicle and the running information of the vehicle during the running process of the vehicle; wherein the running information includes a current vehicle speed of the vehicle itself.
In one embodiment, the driver may select whether to turn on the adaptive energy recovery mode through the adaptive energy recovery button on the human-computer interaction system 14. Controlling the vehicle to perform coasting energy recovery according to a user-selected intensity level of fixed energy recovery when the adaptive energy recovery mode is not activated; under the condition that the adaptive energy recovery mode is activated, if an identifiable identification target does not exist in front of the vehicle, that is, the vehicle does not currently have a requirement for coasting energy recovery, or the entire vehicle control system 11 of the vehicle cannot acquire the relevant information of the identification target in front of the vehicle, controlling the vehicle to perform coasting energy recovery at the lowest intensity level. And only in the case that the adaptive energy recovery mode is activated and an identification target exists in front of the vehicle, that is, the vehicle has a demand for coasting energy recovery using the adaptive energy recovery mode at this time, controlling the vehicle to coast energy recovery based on the calculated recovery torque value. The method for calculating the recovered torque value and controlling the vehicle to perform the coasting energy recovery will be described in detail below, and will not be described herein.
For example, the vehicle has 3 energy recovery modes with low, medium, and high fixed intensity levels. When the driver selects not to use the self-adaptive energy recovery mode, if the intensity level of the energy recovery mode can be selected by the driver to be middle, controlling the vehicle to perform sliding energy recovery according to the energy recovery mode in the intensity level; when the driver selects the adaptive energy recovery mode, but the recognition target is not present in front of the vehicle, the vehicle is controlled to perform coasting energy recovery in the energy recovery mode with a low intensity level. When the driver selects to use the adaptive energy recovery mode and the recognition target exists in front of the vehicle, the vehicle is controlled to perform the coasting energy recovery based on the recovery torque value calculated by the vehicle control system, and the intensity level of the adaptive energy recovery mode at this time can be any intensity level not exceeding the high fixed recovery intensity level and the low fixed recovery intensity level, for example, a first-gear non-fixed intensity level between the low intensity level and the middle intensity level.
In one embodiment, a vehicle can be detected in the driving direction of the vehicle through a vehicle-mounted sensor, and relevant information of an identification target in front of the vehicle is obtained; and/or the vehicle may receive information about an identification target in front of the vehicle, which is detected by an external detection device in a traveling direction of the vehicle. The vehicle-mounted sensor can comprise a vehicle-mounted detection system such as a vehicle-mounted radar and a vehicle-mounted camera. The external detection device may include a detection satellite of a navigation system, such as a detection satellite of a Global Positioning System (GPS), a detection satellite of a Beidou satellite navigation system, and the like, and transmits the detected relevant information to the vehicle.
In one embodiment, after receiving the information related to the identification target and the running information of the vehicle itself sent by the information acquisition system, the vehicle control system can estimate the deceleration of the vehicle when the vehicle performs the coasting energy recovery in a calculation manner. The method of calculating deceleration may vary depending upon the particular recognition goal, as described in detail below.
In one embodiment, the recognition target may be any one or more of: front cars, traffic lights, speed limit signs, curves or roundabouts.
In an embodiment, in a case that the recognition target is a preceding vehicle, the related information of the recognition target includes a speed of the preceding vehicle and a distance between the own vehicle and the preceding vehicle, and the form information of the vehicle itself includes a current speed and a safety distance determined based on preset information of the current speed, a vehicle type, a road condition, and the like. The whole vehicle control system can compare the distance between the self vehicle and the front vehicle with the safe distance, the speed of the self vehicle and the speed of the front vehicle. And under the condition that the distance between the vehicles is smaller than the safe distance, determining that the deceleration value corresponding to the maximum energy recovery torque of the current vehicle is the deceleration when the self vehicle performs the sliding energy recovery, namely when the distance between the vehicles in front is too close to be smaller than the safe distance, performing the energy recovery with the maximum intensity level, so that the self vehicle decelerates as soon as possible, and the distance between the vehicle and the front vehicle is enlarged to ensure the safe distance as much as possible. Under the condition that the vehicle distance is larger than the safe distance and the current vehicle speed is smaller than the vehicle speed of the front vehicle, the deceleration value corresponding to the minimum energy recovery torque of the current vehicle is determined to be the deceleration when the self vehicle carries out sliding energy recovery, namely, the safe distance is kept, the vehicle speed of the self vehicle is smaller than the vehicle speed of the front vehicle, and under the condition that rear-end collision danger does not exist, energy recovery of the lowest intensity level can be carried out, so that the self vehicle is decelerated slowly, and the self vehicle cannot follow the vehicle too far under the condition that the safe distance is ensured. And under the condition that the distance between the vehicle and the front vehicle is larger than the safe distance and the speed of the vehicle is larger than the speed of the front vehicle, the arrival safe distance of the vehicle is calculated, and the speed is reduced under the condition that the speed is equal to the speed of the front vehicle, so that the vehicle can keep consistent with the speed of the front vehicle through self-adaptive sliding energy recovery, the safe distance is maintained, and the driving safety is ensured when the vehicle arrives at the safe distance. The specific scenario can be seen in fig. 3, and the formula for calculating deceleration is as follows.
In the formula: a represents the calculated deceleration, V 1 Indicates the speed, V, of the preceding vehicle 2 Indicates the speed of the vehicle, L 1 Indicating the distance between the vehicle and the preceding vehicle, L 2 Indicating the safe distance between the vehicle and the front vehicle.
In one embodiment, in the case where the recognition target is not a preceding vehicle, such as a red light, a speed limit sign, a roundabout, a curve, and the like, the information related to the recognition target includes a target vehicle speed of the own vehicle when reaching a target position of the recognition target, and a distance between the own vehicle and the target position, the running information of the own vehicle includes a vehicle speed of the own vehicle, and the estimated deceleration when the own vehicle performs coasting energy recovery includes: and calculating the deceleration of the vehicle when the vehicle reaches the target position of the recognition target and the vehicle speed is equal to the target vehicle speed, wherein the target position can be the position where the recognition target is located or a certain position at a certain distance before the recognition target, and the target vehicle speed is the set speed at which the vehicle can safely pass through the corresponding recognition target scene. The deceleration calculated by the method can reduce the vehicle speed to the target vehicle speed when the vehicle reaches the target position, and avoids danger caused by too fast vehicle speed. The specific scenario can be seen in fig. 4, and the formula for calculating deceleration is as follows.
In the formula: a represents the calculated deceleration, V 2 Indicating the speed of the vehicle, V 0 Indicates target vehicle speed, L 0 Indicating the distance from the vehicle to the target location.
In an embodiment, in a case where the recognition target is not a preceding vehicle, the recognition target may be a curve. The target vehicle speed at this time may be changed according to a curvature radius of the curve, where the larger the curvature radius is, the larger the target vehicle speed is, the smaller the curvature radius is, and the smaller the target vehicle speed is, and the determination of the target vehicle speed may be implemented through a preset mapping relationship with the curvature radius. For example, table 1 shows a mapping relationship:
TABLE 1
With the above-described mapping relationship, after the vehicle performs adaptive coasting energy recovery, it is possible to maintain an appropriate vehicle speed at the time of cornering. For example, a slightly higher vehicle speed can be maintained in the face of a larger curve, while a lower vehicle speed can be safely passed in the face of a smaller curve.
In one embodiment, if a plurality of recognition targets are provided in front of the vehicle, a plurality of corresponding decelerations are respectively predicted, and the largest deceleration among the plurality of decelerations is determined as the deceleration when the vehicle performs coasting energy recovery. For example, when the vehicle is running, the front part of the vehicle is provided with a front vehicle and a speed limit sign, and a deceleration of 1.0m/s is estimated according to the related information of the front vehicle and the running information of the vehicle 2 Then, a deceleration of 0.9m/s is estimated according to the related information of the speed limit sign and the running information of the vehicle 2 The deceleration at which the vehicle performs coasting energy recovery is determined to be the larger of the two, i.e., 1.0m/s 2 Avoiding the selection of a smaller deceleration results in less speed drop when coasting energy recovery is performed, and a hazard occurs in another scenario where an object is identified.
In the step, the deceleration under each scene is calculated, so that the sliding energy recovery control method can be applied to any scene. In either scenario, adaptive coasting energy recovery may be performed in that scenario, as long as the deceleration at which coasting energy recovery is performed is determined.
S202: acquiring a preset energy recovery torque comparison table, wherein the energy recovery torque comparison table records the mapping relation of a preset vehicle speed, a preset deceleration and a preset recovery torque value;
and determining the value of the energy recovery torque by contrasting the energy recovery torque comparison table and according to the preset current vehicle speed and the preset deceleration.
In one embodiment, the energy recovery torque map may be as shown in table 2 below.
TABLE 2
In this table, the number corresponding to the preset vehicle speed and the preset deceleration (e.g., number 1500 corresponding to 60 and 0.9) is the preset energy recovery torque in N "m.
The upper limit and the lower limit of the energy recovery torque corresponding to each vehicle speed must not exceed the torque value corresponding to the strongest fixed recovery level and the torque value corresponding to the weakest fixed recovery level, that is, the torque value corresponding to the energy recovery should be the torque that can be realized by the current vehicle.
S203: under the condition that the mapping relation corresponding to the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table, calculating recovery torque values corresponding to the current vehicle speed and the deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculation function;
and if a mapping relation corresponding to the current vehicle speed and the estimated deceleration exists in the energy recovery torque comparison table, directly acquiring the torque value of energy recovery according to the mapping relation. For example, in the embodiment of the above table, if the current vehicle speed is 60km/h, the estimated deceleration is0.9m/s 2 The energy recovery torque value is 1500N "m.
And under the condition that the mapping relation corresponding to the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table, calculating the recovery torque value corresponding to the current vehicle speed and the estimated deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculation function. For example, in the embodiment of the above table, the current vehicle speed is 55km/h and the estimated deceleration is 1.0m/s 2 Obviously, the torque comparison table does not have the mapping relation between the vehicle speed and the deceleration, and at the moment, the corresponding recovery torque value is calculated according to the current vehicle speed and the deceleration through the calculation function.
In an embodiment, the calculation function may be a linear calculation function, and may also be a quadratic function, a power function, an exponential function, and the like, which is not limited in this application. Taking a linear calculation function as an example, two preset vehicle speeds closest to the current vehicle speed can be found according to the current vehicle speed, two preset deceleration speeds closest to the estimated deceleration speed can be found according to the estimated deceleration speed, four energy recovery torques can be confirmed according to the mapping relation, and then the energy recovery torques corresponding to the current vehicle speed and the estimated deceleration speed are calculated according to the linear calculation function.
For example, in the embodiment of the above table, the current vehicle speed is 55km/h, the two closest preset vehicle speeds are 50km/h and 60km/h, respectively, and the estimated deceleration is 1.0m/s 2 The two closest preset decelerations are 0.9m/s respectively 2 And 1.2m/s 2 The confirmed torques of the four energy recoveries are 1500N "m, 2000N" m, respectively, and 55km/h and 1.0m/s can be obtained according to the linear calculation 2 The corresponding energy recovery torque should be 1667N "m.
The energy recovery torque value corresponding to any speed and any deceleration can be confirmed in the step, so that the vehicle can adopt different self-adaptive sliding energy recovery torques according to different sliding energy recovery scenes, the vehicle has multiple sliding energy recovery modes, the energy recovery torque determined based on the relevant information of the identification target and the estimated deceleration of the vehicle self driving information can be reduced to the target speed when the vehicle just withstands the target position after the sliding energy recovery is carried out, the intensity level of the energy recovery can be smoothly switched when the sliding energy recovery is carried out, the sudden jump from the low intensity level to the medium intensity level is avoided, and the bad driving experience is brought to the driver.
S204: and controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value.
In one embodiment, the vehicle control system may determine the calculated recovered torque value. Under the condition that the calculated recovery torque value is not larger than the maximum torque value which can be borne by an electric drive system of the vehicle, controlling the electric drive system of the vehicle to provide braking force corresponding to the calculated recovery torque value; and under the condition that the calculated recovery torque value is larger than the maximum torque value which can be borne by an electric drive system of the vehicle, controlling the electric drive system to provide a braking force which is not larger than the maximum torque value which can be borne by the electric drive system, and controlling a hydraulic braking system of the vehicle to perform braking compensation.
In the above embodiment, the vehicle control system may determine the calculated recovery torque value, and determine that hydraulic braking compensation is required when the recovery torque value is greater than the maximum torque value that the electric drive system can bear; and under the condition that the recovery torque value is not larger than the maximum torque value which can be borne by the electric drive system, judging that hydraulic braking compensation is not needed. The whole vehicle control system can distribute the calculated recovery torque value, and completely distributes the torque to the electric driving system under the condition of not needing hydraulic braking compensation; in the case of hydraulic braking compensation, the electric drive system can be assigned a torque according to the maximum torque value that the electric drive system can withstand, and the remaining part that exceeds the maximum torque value that the electric drive system can withstand can be subjected to torque compensation by the hydraulic braking system. By judging whether hydraulic compensation is carried out or not and the method for distributing the energy recovery torque to the electric drive system and the hydraulic braking system, the estimated deceleration can still be finished when the electric drive system receives the influence of external factors to cause the change of the borne maximum torque value, the danger caused by the fact that the electric drive system cannot be reduced to the target speed at the target position due to the insufficient capacity of the electric drive system is avoided, a driver does not need to manually regulate and control the vehicle speed, and convenience and worry are brought; at the same time, torque is distributed to the electric drive system as much as possible, and the maximum efficiency and economy of energy recovery are also ensured.
In one embodiment, a prompt can be sent to the driver through a human-computer interaction system, and the driver can autonomously select whether to perform adaptive gliding energy recovery. The specific method comprises the following steps: when the torque of the sliding energy recovery is larger than the preset recovery strength torque and no steering signal of the current vehicle is detected, sending out a prompt of releasing an accelerator to perform energy recovery to a driver; and controlling the vehicle to perform coasting energy recovery under the condition that the driver is determined to release the accelerator. The calculated energy recovery torque value is judged, and only when the calculated energy recovery torque value exceeds the preset recovery strength torque, a prompt is sent, so that the bad experience brought to a driver by frequently prompting the driver by a small energy recovery torque is avoided, and when a large energy recovery torque is met, the situation that the vehicle is subjected to large deceleration due to energy recovery at the moment is also meant, the driver is prompted to have psychological expectation, and whether the energy recovery is carried out or not is selected according to the driver. The monitoring of the presence or absence of the steering signal of the vehicle has the function of avoiding interference caused by the fact that a front target recognized when the vehicle is steered does not need to perform gliding energy recovery, and bringing better driving experience to a driver. After the energy recovery prompt is sent out, a driver autonomously selects whether to perform energy recovery, and if the accelerator pedal is released, the calculated energy recovery torque value is distributed to an energy recovery execution system in a determined distribution mode to execute energy recovery.
And under the condition that the calculated recovery torque value is greater than the preset recovery strength torque value and the current vehicle is not detected to have a steering signal, prompting a driver after the following conditions are respectively met according to different recognition targets.
When the recognition target is the front vehicle: the current vehicle-to-front vehicle distance is not more than 120% of the safe vehicle distance, and the current vehicle-to-front vehicle distance is not less than 90% of the safe vehicle distance. When the distance from the front vehicle is far, the sliding energy recovery is not needed, and when the distance from the front vehicle is near, the sliding energy recovery is not needed, and at the moment, from the safety point of view, a driver should press a brake pedal to brake so as to rapidly decelerate and pull the distance.
When the recognition target is other recognition target other than the preceding vehicle, such as a traffic light, a curve, a roundabout, and the like: the current vehicle speed is more than 40km/h. When the current vehicle speed is about to run to a traffic light, a curve, a rotary island and other targets, if the vehicle speed is too high, a prompt for releasing an accelerator pedal to recover sliding energy is sent to a driver.
It should be noted that in the above embodiment, the vehicle control system sends commands to the electric drive system and the hydraulic brake system to achieve coasting energy recovery only when the driver releases the accelerator pedal.
According to the method, the deceleration during the execution of the sliding energy recovery is estimated according to the relevant information of the identification target in front of the vehicle and the running information of the vehicle, the corresponding recovery torque value is calculated through a calculation function according to the mapping relation in the energy recovery torque comparison table, and the vehicle is controlled to perform the sliding energy recovery based on the recovery torque value. The sliding energy recovery requirements of different scenes are met, different sliding energy recovery intensities are provided, the vehicle can be lowered to the target vehicle speed when reaching the target position after the sliding energy recovery is carried out, the vehicle speed does not need to be adjusted again by the driver, and the sliding energy recovery can be carried out flexibly and provides simple, convenient and better driving experience for the driver.
Corresponding to the embodiment of the control method for the coasting energy recovery, the application also provides an embodiment of a control device for the coasting energy recovery.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device in which a control device for recovering coasting energy is located in an embodiment of the present application. At the hardware level, the device includes a processor 510, a network interface 520, a memory 530, and a non-volatile storage 540, although it may also include hardware required for other services. One or more embodiments of the present application may be implemented in software, for example, by processor 510 reading a corresponding computer program from non-volatile storage 540 into memory 530 and then running. Of course, besides the software implementation, the one or more embodiments of the present application do not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.
Referring to fig. 6, fig. 6 is a block diagram of a control device for recovering coasting energy according to an embodiment of the present application. The coasting energy recovery control device can be applied to an electronic device as shown in fig. 5 to implement the technical solution of the present application. The coasting energy recovery control system may include:
a predicted deceleration unit 610 for predicting a deceleration when the vehicle performs coasting energy recovery, based on information about an identification target ahead of the vehicle during travel of the vehicle and travel information of the vehicle itself; wherein the running information includes a current speed of the vehicle itself;
the query unit 620 is configured to obtain a preset energy recovery torque comparison table, where the energy recovery torque comparison table records a mapping relationship between a preset vehicle speed, a preset deceleration, and a preset recovery torque value;
a calculating unit 630, configured to calculate, when a mapping relation between the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table, a recovery torque value corresponding to the current vehicle speed and the estimated deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculation function;
and an energy recovery unit 640 for controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value.
Optionally, the method further includes:
detecting the driving direction of the vehicle through a vehicle-mounted sensor to obtain related information of a recognition target in front of the vehicle; and/or receiving related information of the identification target in front of the vehicle, which is obtained by detecting the driving direction of the vehicle by an external detection device.
Optionally, the method further includes:
controlling the vehicle to perform coasting energy recovery according to a user-selected intensity level of fixed energy recovery when the adaptive energy recovery mode is not activated;
under the condition that the self-adaptive energy recovery mode is activated, if no recognition target exists in front of the vehicle, controlling the vehicle to recover the sliding energy with the lowest intensity level;
the controlling the vehicle for coasting energy recovery based on the calculated recovered torque value includes:
and under the condition that the adaptive energy recovery mode is activated, if the recognition target exists in front of the vehicle, controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value.
In the alternative,
the identification target includes any one of: front cars, traffic lights, speed limit signs, curves or rotary islands;
in the case that the identification target is a preceding vehicle, the information related to the identification target includes a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle, the running information of the vehicle itself includes the current speed and a preset safe distance, and the pre-estimated deceleration of the vehicle when performing coasting energy recovery includes:
determining a deceleration value corresponding to the current vehicle maximum energy recovery torque as a deceleration when the vehicle performs the coasting energy recovery, when the distance is smaller than the safety distance; under the condition that the distance is larger than the safe distance and the current vehicle speed is smaller than the vehicle speed of the front vehicle, determining the deceleration value corresponding to the minimum energy recovery torque of the front vehicle as the deceleration when the vehicle performs the coasting energy recovery; under the condition that the distance is larger than the safe distance and the current vehicle speed is larger than the vehicle speed of the preceding vehicle, calculating the deceleration of the current vehicle when the current vehicle reaches the safe distance and the vehicle speed is equal to the vehicle speed of the preceding vehicle;
in a case where the recognition target is not a preceding vehicle, the information related to the recognition target includes a target vehicle speed of the vehicle and a distance between the vehicle and the recognition target when reaching the position of the recognition target, the running information of the vehicle itself includes the current vehicle speed, and the estimated deceleration at which the vehicle performs coasting energy recovery includes: and calculating the deceleration under the condition that the current vehicle reaches the position of the identification target and the vehicle speed is equal to the target vehicle speed.
Optionally, the controlling the vehicle to perform coasting energy recovery based on the calculated recovered torque value includes:
controlling an electric drive system of the vehicle to provide a braking force corresponding to the calculated recovery torque value, in the case that the calculated recovery torque value is not greater than a maximum torque value that the electric drive system of the vehicle can withstand;
and under the condition that the calculated recovery torque value is larger than the maximum torque value which can be borne by the electric drive system of the vehicle, controlling the electric drive system to provide a braking force which is not larger than the maximum torque value which can be borne by the electric drive system, and controlling a hydraulic braking system of the vehicle to perform braking compensation.
Optionally, the controlling the vehicle to perform coasting energy recovery further includes:
when the torque of the sliding energy recovery is larger than the preset recovery strength torque and the current vehicle is not detected to have a steering signal, a prompt of releasing the accelerator to recover energy is sent to a driver;
and controlling the vehicle to perform coasting energy recovery under the condition that the driver is determined to release the accelerator.
The specific details of the implementation process of the functions and actions of each unit in the above device are the implementation processes of the corresponding steps in the above method, and are not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the description of the method embodiments for relevant indications. The above-described embodiments of the apparatus are only illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain a corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical blocks. It will also be apparent to those skilled in the art that hardware circuitry for implementing the logical method flows can be readily obtained by a mere need to program the method flows with some of the hardware description languages described above and into an integrated circuit.
The controller may be implemented in any suitable manner, and those skilled in the art will also appreciate that instead of implementing the controller in purely computer readable program code, the method steps may well be programmed logically to cause the controller to perform the same functions in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be regarded as a hardware component and the means for performing the various functions included therein may also be regarded as structures within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, apparatuses, modules or units described in the above embodiments may be specifically implemented by a computer chip or an entity, or implemented by a product with certain functions. One typical implementation device is a server system. Of course, this application does not exclude that with future developments in computer technology, the computer implementing the functionality of the above embodiments may be, for example, a personal computer, a laptop computer, a vehicle mounted human interaction device, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device or a combination of any of these devices.
Although one or more embodiments of the present application provide method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When implemented in an actual device or end product, can be executed sequentially or in parallel according to the methods shown in the embodiments or figures (e.g., parallel processor or multi-thread processing environments, even distributed data processing environments). The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, article, or apparatus that comprises the recited elements is not excluded. For example, if the terms first, second, etc. are used to denote names, they do not denote any particular order.
For convenience of description, the above devices are described as being divided into various modules by functions, which are described separately. Of course, when implementing one or more of the present applications, the functions of each module may be implemented in one or more software and/or hardware, or the modules implementing the same functions may be implemented by a combination of multiple sub-modules or sub-units, etc. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the 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 computer storage media 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, graphene storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
One skilled in the art will recognize that one or more embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, one or more embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
One or more embodiments of the present application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment. In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this application, the terminology used to indicate that a particular embodiment or example is not necessarily the same. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, the various embodiments or examples and features of the various embodiments or examples described herein can be combined and combined by those skilled in the art without being mutually inconsistent.
The above description is intended to be merely illustrative of one or more embodiments of the present application and should not be taken to be limiting of the one or more embodiments of the present application. Various modifications and alterations to one or more embodiments of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims.
Claims (10)
1. A coasting energy recovery control method applied to a vehicle control system of a vehicle, the method comprising:
estimating the deceleration of the vehicle when the vehicle executes the sliding energy recovery according to the relevant information of the recognition target in front of the vehicle and the running information of the vehicle during the running process of the vehicle; wherein the running information includes a current speed of the vehicle itself;
acquiring a preset energy recovery torque comparison table, wherein the energy recovery torque comparison table records the mapping relation of a preset vehicle speed, a preset deceleration and a preset recovery torque value;
under the condition that the mapping relation corresponding to the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table, calculating the recovery torque value corresponding to the current vehicle speed and the deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculation function;
and controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value.
2. The method of claim 1, further comprising:
detecting the driving direction of the vehicle through a vehicle-mounted sensor to obtain related information of a recognition target in front of the vehicle; and/or the presence of a gas in the gas,
and receiving related information of an identification target in front of the vehicle, which is obtained by detecting the driving direction of the vehicle by an external detection device.
3. The method of claim 1, further comprising:
under the condition that the self-adaptive energy recovery mode is not activated, controlling the vehicle to perform sliding energy recovery according to the fixed energy recovery intensity level selected by a user;
under the condition that the self-adaptive energy recovery mode is activated, if no recognition target exists in front of the vehicle, controlling the vehicle to perform coasting energy recovery at the lowest intensity level;
the controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value includes:
and under the condition that the adaptive energy recovery mode is activated, if the recognition target exists in front of the vehicle, controlling the vehicle to perform coasting energy recovery based on the calculated recovery torque value.
4. The method of claim 1,
the identification target includes any one of: front vehicles, traffic lights, speed limit signs, curves or roundabouts;
in the case that the identification target is a preceding vehicle, the information related to the identification target includes a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle, the running information of the vehicle itself includes the current speed and a preset safe distance, and the pre-estimated deceleration of the vehicle when performing coasting energy recovery includes:
determining a deceleration value corresponding to the current vehicle maximum energy recovery torque as a deceleration when the vehicle performs the coasting energy recovery, when the distance is smaller than the safety distance; under the condition that the distance is larger than the safe distance and the current vehicle speed is smaller than the vehicle speed of the front vehicle, determining the deceleration value corresponding to the minimum energy recovery torque of the front vehicle as the deceleration when the vehicle performs the coasting energy recovery; under the condition that the distance is larger than the safe distance and the current vehicle speed is larger than the vehicle speed of the front vehicle, calculating the deceleration of the current vehicle when the current vehicle reaches the safe distance and the vehicle speed is equal to the vehicle speed of the front vehicle;
in a case where the recognition target is not a preceding vehicle, the information related to the recognition target includes a target vehicle speed of the vehicle and a distance between the vehicle and the recognition target when reaching the position of the recognition target, the running information of the vehicle itself includes the current vehicle speed, and the estimated deceleration at which the vehicle performs coasting energy recovery includes: and calculating the deceleration under the condition that the current vehicle reaches the position of the identification target and the vehicle speed is equal to the target vehicle speed.
5. The method of claim 1, wherein said controlling the vehicle for coasting energy recovery based on the calculated recovered torque value comprises:
under the condition that the calculated recovery torque value is not larger than the maximum torque value which can be borne by an electric drive system of the vehicle, controlling the electric drive system of the vehicle to provide braking force corresponding to the calculated recovery torque value;
and under the condition that the calculated recovery torque value is larger than the maximum torque value which can be borne by an electric drive system of the vehicle, controlling the electric drive system to provide a braking force which is not larger than the maximum torque value which can be borne by the electric drive system, and controlling a hydraulic braking system of the vehicle to perform braking compensation.
6. The method of claim 1, wherein the controlling the vehicle for coasting energy recovery further comprises:
when the torque of the sliding energy recovery is larger than the preset recovery strength torque and no steering signal of the current vehicle is detected, sending out a prompt of releasing an accelerator to perform energy recovery to a driver;
and controlling the vehicle to perform coasting energy recovery under the condition that the driver is determined to release the accelerator.
7. A coasting energy recovery control device comprising:
the estimated deceleration unit is used for estimating the deceleration of the vehicle when the vehicle executes the sliding energy recovery according to the related information of the recognition target in front of the vehicle during the running process of the vehicle and the running information of the vehicle; wherein the running information includes a current speed of the vehicle itself;
the system comprises a query unit, a comparison unit and a control unit, wherein the query unit is used for acquiring a preset energy recovery torque comparison table, and the energy recovery torque comparison table records the mapping relation among a preset vehicle speed, a preset deceleration and a preset recovery torque value;
the calculating unit is used for calculating recovery torque values corresponding to the current vehicle speed and the estimated deceleration according to the mapping relation in the energy recovery torque comparison table and a preset calculating function under the condition that the mapping relation corresponding to the current vehicle speed and the estimated deceleration does not exist in the energy recovery torque comparison table;
and the energy recovery unit is used for controlling the vehicle to carry out coasting energy recovery on the basis of the calculated recovery torque value.
8. An electronic device, comprising: a processor, a memory;
the memory for storing a computer program;
the processor is configured to execute the coasting energy recovery control method according to any one of claims 1 to 6 by calling the computer program.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method for controlling coasting energy recovery according to any one of claims 1 to 6.
10. A vehicle characterized by comprising the coasting energy recovery control device of claim 7.
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| CN202211017527.6A CN115284887A (en) | 2022-08-23 | 2022-08-23 | Energy recovery control method, device, equipment, medium and vehicle |
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| CN202211017527.6A CN115284887A (en) | 2022-08-23 | 2022-08-23 | Energy recovery control method, device, equipment, medium and vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115716411A (en) * | 2022-12-01 | 2023-02-28 | 阿维塔科技(重庆)有限公司 | Energy recovery intensity control method and device and computer readable storage medium |
| WO2024159856A1 (en) * | 2023-01-31 | 2024-08-08 | 比亚迪股份有限公司 | Vehicle control method, storage medium, controller, and vehicle |
| WO2024174808A1 (en) * | 2023-02-21 | 2024-08-29 | 合众新能源汽车股份有限公司 | Vehicle control method and apparatus based on sliding recovery |
-
2022
- 2022-08-23 CN CN202211017527.6A patent/CN115284887A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115716411A (en) * | 2022-12-01 | 2023-02-28 | 阿维塔科技(重庆)有限公司 | Energy recovery intensity control method and device and computer readable storage medium |
| WO2024159856A1 (en) * | 2023-01-31 | 2024-08-08 | 比亚迪股份有限公司 | Vehicle control method, storage medium, controller, and vehicle |
| WO2024174808A1 (en) * | 2023-02-21 | 2024-08-29 | 合众新能源汽车股份有限公司 | Vehicle control method and apparatus based on sliding recovery |
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