CN108515960B

CN108515960B - Sliding energy recovery method, device and system

Info

Publication number: CN108515960B
Application number: CN201810260934.7A
Authority: CN
Inventors: 吴孝勤; 李洪飞; 向守智
Original assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Priority date: 2018-03-27
Filing date: 2018-03-27
Publication date: 2020-04-21
Anticipated expiration: 2038-03-27
Also published as: CN108515960A

Abstract

The invention provides a method, a device and a system for recovering sliding energy, which relate to the technical field of automobiles, and the method comprises the following steps: acquiring running parameters and gradient signals of a current vehicle; the driving parameters comprise vehicle speed, gear and brake pedal signals; calculating initial recovery torque under the current vehicle speed according to the driving parameters; correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque; and sending the target recovery torque to the motor to trigger the motor to recover energy. According to the method, the device and the system for recovering the sliding energy, provided by the invention, the initial recovery torque can be corrected according to the road signal in the energy recovery process, so that the problems that the vehicle is subjected to frequent accelerator stepping due to overlarge vehicle deceleration in the uphill process or is subjected to frequent brake stepping due to undersize vehicle deceleration in the downhill process and the like are avoided, and the comfort level of the vehicle driving is favorably ensured.

Description

Sliding energy recovery method, device and system

Technical Field

The invention relates to the technical field of automobiles, in particular to a method, a device and a system for recovering sliding energy.

Background

With the increasing popularity of hybrid electric vehicles, the quantity of hybrid electric vehicles is increasing, and the energy saving and endurance problems of hybrid electric vehicles have been greatly emphasized by the automobile engineering world at home and abroad. In order to protect the environment and to make reasonable use of resources, it is necessary to reduce the resource consumption of the hybrid vehicle. In general, the cruising ability of a hybrid vehicle can be improved by recovering energy lost when the hybrid vehicle is braked and reusing the recovered energy when the hybrid vehicle is accelerated or ascends a slope.

Generally, hybrid vehicles are all provided with a sliding energy recovery system, in the driving process, when a driver looses an accelerator, the vehicle achieves the speed reduction effect by overcoming the rotation resistance moment of an engine, and kinetic energy lost by vehicle speed reduction in the speed reduction process can only be lost through heat energy generated by friction resistance and cannot be recycled. The sliding energy recovery system recovers and utilizes the energy loss of the part to achieve a good oil saving effect, but the magnitude of the sliding energy recovery torque can only be judged based on signals such as vehicle speed, an accelerator and the like in the existing sliding energy recovery function at present, only the energy recovery maximization effect is concerned, the comfort of the driving performance of a driver cannot be considered, and the comfort of the driver is reduced.

Disclosure of Invention

In view of the above, the present invention provides a method, an apparatus and a system for recovering coasting energy to alleviate the technical problem that the conventional coasting energy recovery system cannot give consideration to the comfort of the driving performance of the driver.

In a first aspect, an embodiment of the present invention provides a coasting energy recovery method, which is applied to a coasting energy recovery system for coasting energy recovery, and the method includes: acquiring running parameters and gradient signals of a current vehicle; the driving parameters comprise vehicle speed, gear and brake pedal signals; calculating initial recovery torque under the current vehicle speed according to the driving parameters; correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque; and sending the target recovery torque to the motor, and triggering the motor to recover energy.

With reference to the first aspect, the embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the step of calculating the initial recovery torque at the current vehicle speed according to the driving parameters includes: acquiring pre-stored vehicle attribute information, and calculating a maximum recovery torque and an initial recovery torque according to the vehicle attribute information and driving parameters, wherein the vehicle attribute information at least comprises the following components: motor state, battery state, vehicle weight, vehicle sliding resistance, and engine drag torque.

With reference to the first possible implementation manner of the first aspect, the example of the present invention provides a second possible implementation manner of the first aspect, wherein the step of correcting the initial recovery torque according to the gradient signal to obtain the target recovery torque includes: searching a correction coefficient matched with the running parameter of the current vehicle in a pre-stored correction table according to the gradient signal; and correcting the initial recovery torque according to the correction coefficient to obtain the target recovery torque.

With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the step of correcting the initial recovery torque according to the correction coefficient to obtain the target recovery torque includes: when the slope corresponding to the ramp signal is greater than the first slope threshold value, the correction coefficient is less than 1; when the slope corresponding to the ramp signal is smaller than a second slope threshold value, the correction coefficient is larger than 1; wherein the first slope threshold is greater than the second slope threshold; when the gradient corresponding to the gradient signal is greater than the second gradient threshold and smaller than the first gradient threshold, the correction coefficient is equal to 1; the target recovery torque is calculated by the formula:

wherein the content of the first and second substances,

in order to correct the coefficients of the coefficients,

in order to be the slope of the slope,

a first slope threshold;

a second slope threshold; t is_{Target recovery torque}For the purpose of targeted recoveryTorque; t is_{Initial recovery torque}Is an initial recovery torque, and, when the correction coefficient is greater than 1, T_{Target recovery torque}Less than the maximum recovery torque.

With reference to the third possible implementation manner of the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, where after the target recovery torque is obtained, the method further includes: calculating the slip rate of the current vehicle according to the driving parameters; searching a safety coefficient corresponding to the slip rate in a pre-stored safety coefficient table; multiplying the target recovery torque by the safety factor to obtain an optimized target recovery torque; and sending the optimized target recovery torque to the motor, and triggering the motor to recover energy.

With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the step of triggering the motor to recover energy includes: and driving the motor to rotate according to the target recovery torque, and charging the battery.

With reference to the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the method further includes: monitoring an energy recovery signal in real time while charging the battery, wherein the energy recovery signal at least comprises: the electric quantity of the battery, the temperature of the battery and a motor temperature signal; and when any signal in the energy recovery signals exceeds a preset signal threshold, stopping the energy recovery process.

With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the method further includes: and monitoring an accelerator pedal opening signal of the current vehicle in real time, and starting a sliding energy recovery process when the accelerator pedal opening signal is monitored and is smaller than a preset opening threshold value.

In a second aspect, an embodiment of the present invention further provides a sliding energy recovery device, which is disposed in a sliding energy recovery system to perform sliding energy recovery, and includes: the acquisition module is used for acquiring the running parameters and the gradient signals of the current vehicle; the driving parameters comprise vehicle speed, gear and brake pedal signals; the calculation module is used for calculating the initial recovery torque under the current vehicle speed according to the driving parameters; the correction module is used for correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque; and the energy recovery module is used for sending the target recovery torque to the motor and triggering the motor to recover energy.

In a third aspect, an embodiment of the present invention further provides a coasting energy recovery system, which includes a memory for storing a program supporting the processor to execute the method of the first aspect, and a processor configured to execute the program stored in the memory.

In a fourth aspect, an embodiment of the present invention further provides a computer storage medium for storing computer software instructions for the apparatus in the second aspect.

The embodiment of the invention has the following beneficial effects:

according to the sliding energy recovery method, the device and the system provided by the embodiment of the invention, the running parameters and the gradient signals of the current vehicle can be obtained, and the initial recovery torque at the current vehicle speed is calculated according to the running parameters; correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque; and then sending the target recovery torque to the motor, triggering the motor to recover energy, correcting the initial recovery torque according to a road signal in the energy recovery process, avoiding the problems that the vehicle is stepped on an accelerator at frequent points due to overlarge vehicle deceleration in the uphill process or is stepped on a brake at frequent points due to undersize vehicle deceleration in the downhill process, and the like, and being beneficial to ensuring the comfort level of the vehicle driving, thereby realizing the maximization of energy recovery on the basis of ensuring the driving comfort level at different ramp angles.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart of a method for recovering coasting energy according to an embodiment of the present invention;

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

fig. 3 is a schematic structural diagram of a sliding energy recovery device according to an embodiment of the present invention;

fig. 4 is a block diagram of a coasting energy recovery system according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

At present, in the sliding energy recovery function, the magnitude of the sliding energy recovery torque can be judged only based on signals such as vehicle speed and an accelerator, the maximum effect of energy recovery is only concerned, and the drivability can not be considered, so that the vehicle decelerates too fast on an uphill slope or the vehicle accelerates too fast and frequently steps on a brake on a downhill slope, and the comfort level of a driver is reduced. Based on this, the coasting energy recovery method, device and system provided by the embodiment of the invention can recover energy and ensure the driving comfort of the driver.

For the convenience of understanding the present embodiment, a detailed description will be given of a coasting energy recovery method disclosed in the present embodiment.

The first embodiment is as follows:

the embodiment of the invention provides a coasting energy recovery method, which is applied to a coasting energy recovery system of a hybrid electric vehicle, and particularly can be executed on a controller of the coasting energy recovery system to recover coasting energy, wherein the energy recovery system recovers and utilizes redundant energy consumed by the vehicle in a braking or deceleration process, so that the energy consumption of the vehicle is reduced, and the driving mileage of the hybrid electric vehicle is increased.

A flow chart of a method of taxi energy recovery as shown in figure 1, comprising the steps of:

step S102, acquiring running parameters and gradient signals of a current vehicle; typically, the driving parameters include vehicle speed, gear and brake pedal signals;

during specific implementation, the vehicle speed and the gear signals can be measured through a speed sensor, and the brake pedal signals can be detected through a brake pedal opening sensor.

Step S104, calculating initial recovery torque under the current vehicle speed according to the driving parameters;

step S106, correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque;

and step S108, sending the target recovery torque to the motor, and triggering the motor to recover energy.

Considering that a hybrid electric vehicle (hereinafter referred to as an automobile) frequently steps on a brake pedal according to different road condition information or different driving habits of a driver during driving, and is not suitable for recovering sliding energy when the brake pedal is slightly stepped. Therefore, to avoid frequent activation of the coasting energy recovery system, the method further comprises: when the vehicle runs, the opening signal of the accelerator pedal of the current vehicle is monitored in real time, and when the opening signal of the accelerator pedal is monitored and is smaller than a preset opening threshold value, the coasting energy recovery process is started, so that the starting effectiveness of the coasting energy recovery system is ensured, and the energy waste caused by frequent invalid starting is avoided.

In general, since the initial recovery torque varies depending on the attributes of the vehicle, the engine, and the like, each vehicle is usually calculated based on the vehicle attribute information and the current driving parameters of the vehicle. Specifically, vehicle attribute information stored in advance needs to be acquired, calculation is performed according to the vehicle attribute information and the driving parameters, and a maximum recovery torque and an initial recovery torque are obtained, wherein the vehicle attribute information at least includes: motor state, battery state, vehicle weight, vehicle sliding resistance, and engine drag torque.

The specific simulation calculation process can be realized by establishing a vehicle computer simulation model through a modeling method based on MATLAB/Simulink, designing an energy management strategy according to the simulation model, and further obtaining the maximum recovery torque and the initial recovery torque based on the vehicle attribute information and the current driving parameters of the vehicle. Furthermore, in the design of the energy management strategy, the simulation model can be used for quantitatively analyzing the energy consumption of the whole vehicle, establishing an energy consumption model for designing the energy management strategy, quickly verifying the energy management strategy, reducing unnecessary manufacturing and real vehicle tests of the sample vehicle, shortening the development period and reducing the development cost. The specific modeling method of simulation calculation and the establishment method of the simulation model can be realized by referring to related data in the prior art, which is not limited in the embodiment of the invention.

Generally, the initial recovery torque is a recovery torque generated by the current vehicle based on the current vehicle speed, and the initial recovery torque is different based on different vehicle speeds. In a specific implementation, the recovered torque is torque which is transmitted from the wheels to the motor by converting kinetic energy or potential energy into electric energy when the automobile is braked, generally, the brake generates torque when the automobile is braked, and a part of torque is used as braking torque to generate a braking deceleration which directly reflects the magnitude of braking force for decelerating the automobile to run; when the automobile runs on a downhill, the braking torque can also ensure that the automobile keeps a proper stable speed; in addition, the vehicle can be reliably parked on the spot or on a slope.

In the absence of a coasting energy recovery system, in addition to the torque of one portion being used as the braking torque, another portion is lost through the heat energy generated by frictional resistance during deceleration of the vehicle. In a vehicle equipped with a coasting energy recovery system, the lost torque can be recovered.

In a conventional coasting energy recovery system, when energy is recovered, the magnitude of the recovered torque is usually determined based on signals such as vehicle speed and accelerator, and only the energy recovery maximizing effect is focused, which causes problems such as excessive vehicle deceleration during uphill or insufficient vehicle deceleration during downhill of the vehicle.

Based on this, the coasting energy recovery method provided by the embodiment of the present invention can correct the initial recovery torque after obtaining the initial recovery torque, so that based on the coasting energy recovery method shown in fig. 1, the embodiment of the present invention further provides another coasting energy recovery method, such as a flowchart of another coasting energy recovery method shown in fig. 2, including the following steps:

step S202, monitoring an accelerator pedal opening signal of a current vehicle in real time, and starting a sliding energy recovery process when the accelerator pedal opening signal is monitored and is smaller than a preset opening threshold value;

after the coasting energy recovery process is started, energy is recovered through step S204 to step S218.

Step S204, acquiring the running parameters and gradient signals of the current vehicle;

step S206, obtaining pre-stored vehicle attribute information, and calculating the maximum recovery torque and the initial recovery torque according to the vehicle attribute information and the driving parameters;

wherein, the process of simulation calculation can be realized based on the modeling method of MATLAB/Simulink. The vehicle attribute information includes at least: the method comprises the following steps of (1) calculating the maximum allowable recovery torque of a current vehicle according to the motor state, the battery state, the vehicle weight, the vehicle sliding resistance and the engine back-dragging resistance torque; the initial recovery torque is calculated according to driving parameters, such as vehicle speed, gear and brake pedal signals, and by combining vehicle weight, vehicle sliding resistance, engine drag torque and the like.

Step S208, searching a correction coefficient matched with the running parameter of the current vehicle in a pre-stored correction table according to the gradient signal;

specifically, the correction coefficient is a correction coefficient based on a slope signal, and when the automobile is in an uphill condition, the correction coefficient is smaller than 1, and the larger the slope (slope angle) corresponding to the slope signal is, the smaller the correction coefficient is; when the automobile is in a downhill working condition, the correction coefficient is larger than 1, and the smaller the corresponding gradient of the ramp signal is, the larger the correction coefficient is; specifically, the relationship between the magnitude of the correction coefficient and the ramp angle can be obtained by an experimental calibration method, for example, under an uphill working condition, when the gradient is 30 degrees, the correction coefficient is 0.7; when the gradient is 40 degrees, the correction coefficient is 0.6, etc. The concrete gradient value and the correction coefficient corresponding to the gradient value can be calibrated in an experiment based on the vehicle attribute information of the current vehicle, and the embodiment of the invention is not limited to the actual condition

After the correction factor is found, the correction process of the initial recovery torque can be performed.

Step S210, correcting the initial recovery torque according to the correction coefficient to obtain a target recovery torque;

in order to calibrate the gradient, a gradient coordinate system can be established, the horizontal plane is used as a zero point, the gradient of an ascending slope is specified as a positive direction, and the gradient of a descending slope is specified as a negative direction.

When the slope corresponding to the ramp signal is greater than the first slope threshold value, the correction coefficient is less than 1; when the slope corresponding to the ramp signal is smaller than a second slope threshold value, the correction coefficient is larger than 1; wherein the first slope threshold is greater than the second slope threshold; when the gradient corresponding to the gradient signal is greater than the second gradient threshold and smaller than the first gradient threshold, the correction coefficient is equal to 1;

specifically, in the gradient coordinate system, the first gradient threshold is generally a value greater than zero, and the second gradient threshold is a value less than zero, so that the larger the gradient is, the current vehicle is in an uphill working condition, and the steeper the gradient is; the smaller the gradient is, and the smaller the gradient is, the lower the gradient is, which indicates that the vehicle is in a downhill working condition at present, and the steeper the gradient is.

In a specific implementation, the first gradient threshold and the second gradient threshold may be set according to an actual situation, and the embodiment of the present invention is not limited to this.

Further, the above calculation formula of the target recovery torque may be expressed as:

wherein the content of the first and second substances,

in order to correct the coefficients of the coefficients,

in order to be the slope of the slope,

a first slope threshold;

a second slope threshold; t is_{Target recovery torque}Recovering torque for a target; t is_{Initial recovery torque}Is an initial recovery torque, and, when the correction coefficient is greater than 1, T_{Target recovery torque}Less than the maximum recovery torque.

The following description will be made by taking an automobile ascending slope and a descending slope as examples:

when the automobile enters energy recovery under an uphill working condition, the sliding energy recovery system searches for a correction coefficient based on a slope angle calculated in real time as an input condition, at the moment, the correction coefficient is smaller than 1, and after the initial recovery torque is multiplied by the correction coefficient smaller than 1, the recovery torque is reduced, so that although the recovery of energy is reduced, the deceleration of the automobile can be ensured to be basically kept unchanged when the automobile ascends a slope, and the drivability problems of over-fast deceleration and the like of the automobile ascending a slope are avoided;

when the automobile enters energy recovery under the working condition of downhill, the sliding energy recovery system searches for a correction coefficient based on the slope angle calculated in real time as an input condition, at the moment, the correction coefficient is larger than 1, and after the initial recovery torque is multiplied by the correction coefficient larger than 1, the recovery torque is increased, so that the energy recovery is improved, meanwhile, the recovered energy is more, and the condition that the speed of the automobile is increased quickly in the process of downhill is avoided.

Further, in order to avoid a reduction in safety performance due to an excessively large recovery torque, the target recovery torque during downhill should not exceed the maximum recovery torque.

In specific implementation, the coasting energy recovery system can send the target recovery torque and the maximum recovery torque to an Electronic Stability Program (ESP) system, and the ESP system can effectively prevent a system or a Program from being out of control when an automobile reaches a dynamic limit of the ESP system while improving the control performance of the automobile, so as to improve the safety and the controllability of the automobile. Therefore, after receiving the target recovery torque and the maximum recovery torque, the ESP system can optimize the target recovery torque in consideration of safety factors such as the wheel-side deceleration and the slip ratio, as specifically shown in steps S212 to S218.

Step S212, calculating the slip rate of the current vehicle according to the running parameters;

in general, when a vehicle is used for transportation, the ground is soft and wet, or the running part of the vehicle slips due to the overweight load, and if the linear speed of a wheel grounding point relative to the ground is Va and the axle center speed of the wheel is Vx, the slip rate is (Va/Vx) × 100%.

It should be understood that the slip ratio is only a schematic illustration, and in a specific implementation, the slip ratio may be set according to vehicle attribute information and a current road condition, so that the calculation process of the slip ratio may also be implemented by referring to related materials in the prior art, and specifically, the embodiment of the present invention is not limited thereto.

Step S214, searching a safety coefficient corresponding to the slip rate in a pre-stored safety coefficient table;

step S216, multiplying the target recovery torque by the safety factor to obtain an optimized target recovery torque;

and step S218, sending the optimized target recovery torque to the motor, and triggering the motor to recover energy.

In specific implementation, the energy recovery process can send the target recovery torque to the motor for torque response so as to drive the motor to rotate and charge the battery.

Further, in consideration of the safety of the battery, the method further includes monitoring an energy recovery signal in real time while the battery is charged, wherein the energy recovery signal at least includes: the electric quantity of the battery, the temperature of the battery and a motor temperature signal; and when any signal in the energy recovery signals exceeds a preset signal threshold, the gliding energy recovery system is quitted, and the energy recovery process is stopped.

According to the sliding energy recovery method provided by the embodiment of the invention, the running parameters and the gradient signals of the current vehicle can be obtained, and the initial recovery torque under the current vehicle speed is calculated according to the running parameters; correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque; and then the target recovery torque is sent to the motor to trigger the motor to rotate, energy recovery is carried out, in the energy recovery process, the initial recovery torque can be corrected according to road signals, the problems that the accelerator is frequently stepped on at a point caused by too large vehicle deceleration in the upslope process of the vehicle or the brake is frequently stepped on at a point caused by too small vehicle deceleration in the downslope process of the vehicle are solved, the comfort level of the driving performance of the vehicle is favorably ensured, and the maximization of energy recovery is realized on the basis of ensuring the driving comfort level at different ramp angles.

Example two:

on the basis of the above embodiments, an embodiment of the present invention further provides a sliding energy recovery device, which is disposed in a sliding energy recovery system for sliding energy recovery, and as shown in a schematic structural diagram of the sliding energy recovery device shown in fig. 3, the device includes:

the acquiring module 30 is used for acquiring the running parameters and the gradient signals of the current vehicle; the driving parameters comprise vehicle speed, gear and brake pedal signals;

the calculation module 32 is used for calculating the initial recovery torque under the current vehicle speed according to the driving parameters;

the correction module 34 is used for correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque;

and the energy recovery module 36 is used for sending the target recovery torque to the motor and triggering the motor to recover energy.

The sliding energy recovery device provided by the embodiment of the invention has the same technical characteristics as the sliding energy recovery method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.

Embodiments of the present invention further provide a coasting energy recovery system, which includes a memory for storing a program supporting a processor to execute the method of the first embodiment, and a processor configured to execute the program stored in the memory.

Further, an embodiment of the present invention further provides a computer storage medium, which is used to store computer software instructions for the apparatus described in the second embodiment.

Referring to fig. 4, an embodiment of the present invention further provides a block diagram of a coasting energy recovery system, including: a processor 400, a memory 401, a bus 402 and a communication interface 403, wherein the processor 400, the communication interface 403 and the memory 401 are connected through the bus 402; the processor 400 is used to execute executable modules, such as computer programs, stored in the memory 401.

The Memory 401 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 403 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.

Bus 402 can be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.

The memory 401 is used for storing a program, and the processor 400 executes the program after receiving an execution instruction, and the method executed by the coasting energy recovery device disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 400, or implemented by the processor 400.

Processor 400 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 400. The Processor 400 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 401, and the processor 400 reads the information in the memory 401 and completes the steps of the method in combination with the hardware.

The computer program product of the coasting energy recovery method, apparatus, and system provided in the embodiments of the present invention includes a computer readable storage medium storing program codes, where instructions included in the program codes may be used to execute the method described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A coasting energy recovery method applied to a coasting energy recovery system, the method comprising:

acquiring running parameters and gradient signals of a current vehicle; wherein the driving parameters comprise vehicle speed, gear and brake pedal signals;

calculating the initial recovery torque under the current vehicle speed according to the running parameters;

correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque;

sending the target recovery torque to a motor, and triggering the motor to recover energy;

wherein the step of calculating the initial recovery torque at the current vehicle speed according to the driving parameters comprises:

acquiring pre-stored vehicle attribute information, and calculating a maximum recovery torque and the initial recovery torque according to the vehicle attribute information and the driving parameters, wherein the vehicle attribute information at least comprises: the motor state, the battery state, the vehicle weight, the vehicle sliding resistance and the engine back-dragging resistance moment;

the step of correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque comprises the following steps:

searching a correction coefficient matched with the running parameter of the current vehicle in a pre-stored correction table according to the gradient signal;

correcting the initial recovery torque according to the correction coefficient to obtain the target recovery torque;

the step of correcting the initial recovery torque according to the correction coefficient to obtain the target recovery torque comprises the following steps:

when the gradient corresponding to the gradient signal is greater than a first gradient threshold value, the correction coefficient is less than 1; when the gradient corresponding to the gradient signal is smaller than a second gradient threshold value, the correction coefficient is larger than 1; wherein the first slope threshold is greater than the second slope threshold;

when the gradient corresponding to the gradient signal is greater than a second gradient threshold value and smaller than a first gradient threshold value, the correction coefficient is equal to 1;

the calculation formula of the target recovery torque is as follows:

wherein the content of the first and second substances,

in order to correct the coefficients of the coefficients,

in order to be the slope of the slope,

a first slope threshold;

a second slope threshold;

T_{target recovery torque}Recovering torque for the target; t is_{Initial recovery torque}Is the initial recovery torque, and, when the correction coefficient is larger than 1, the T_{Target recovery torque}Less than the maximum recovery torque.

2. The method of claim 1, wherein after the target recovery torque is obtained, the method further comprises:

calculating the slip rate of the current vehicle according to the running parameters;

searching a safety coefficient corresponding to the slip rate in a pre-stored safety coefficient table;

multiplying the target recovery torque by the safety factor to obtain an optimized target recovery torque;

and sending the optimized target recovery torque to a motor, and triggering the motor to recover energy.

3. The method of claim 1, wherein the step of triggering the motor for energy recovery comprises:

and driving the motor to rotate according to the target recovery torque so as to charge the battery.

4. The method of claim 3, further comprising:

monitoring an energy recovery signal in real time while the battery is charging, wherein the energy recovery signal comprises at least: the electric quantity of the battery, the battery temperature and the motor temperature signal;

and when any signal in the energy recovery signals exceeds a preset signal threshold, stopping the energy recovery process.

5. The method of claim 1, further comprising:

and monitoring an opening signal of an accelerator pedal of the current vehicle in real time, and starting the coasting energy recovery process when the opening signal of the accelerator pedal is monitored and is smaller than a preset opening threshold value.

6. A coasting energy recovery device provided in a coasting energy recovery system for coasting energy recovery, comprising:

the acquisition module is used for acquiring the running parameters and the gradient signals of the current vehicle; wherein the driving parameters comprise vehicle speed, gear and brake pedal signals;

the calculation module is used for calculating the initial recovery torque under the current vehicle speed according to the running parameters;

the correction module is used for correcting the initial recovery torque according to the gradient signal to obtain a target recovery torque;

the energy recovery module is used for sending the target recovery torque to a motor and triggering the motor to recover energy;

the calculation formula of the target recovery torque is as follows:

wherein the content of the first and second substances,

in order to correct the coefficients of the coefficients,

in order to be the slope of the slope,

a first slope threshold;

a second slope threshold;

7. A coasting energy recovery system comprising a memory for storing a program supporting a processor to perform the method of any of claims 1 to 5 and a processor configured to execute the program stored in the memory.