CN111731105B - Vehicle anti-lock energy recovery control method and device - Google Patents
Vehicle anti-lock energy recovery control method and device Download PDFInfo
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- CN111731105B CN111731105B CN201910228855.2A CN201910228855A CN111731105B CN 111731105 B CN111731105 B CN 111731105B CN 201910228855 A CN201910228855 A CN 201910228855A CN 111731105 B CN111731105 B CN 111731105B
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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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Abstract
The invention relates to the technical field of vehicle control, and provides a vehicle anti-lock energy recovery control method and a vehicle anti-lock energy recovery control device, wherein the method comprises the following steps: detecting whether a wheel locking working condition exists or not; when the wheel locking working condition is not detected, controlling the vehicle to carry out energy recovery operation corresponding to real-time vehicle deceleration; when the wheel locking working condition is detected, judging whether the real-time whole vehicle deceleration is greater than a preset deceleration threshold value; and when the real-time whole vehicle deceleration is larger than or equal to the deceleration threshold, controlling the vehicle to perform energy recovery operation corresponding to the deceleration threshold. Therefore, the wheel locking probability is reduced while the energy recovery degradation is realized, and the balance between the anti-lock of the vehicle and the energy recovery operation is realized.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle anti-lock energy recovery control method and device.
Background
The torque of the energy recovery function of the pure electric vehicle is larger than the dragging torque of an engine when the traditional vehicle slides, when the pure electric vehicle type slides on a low-attachment road surface for energy recovery, the phenomenon of locking of a driving wheel can occur due to larger braking force of a driving shaft, and once the wheel is detected to be locked, an ABS (Anti-lock brake system) starts to act to enable the energy recovery to exit, so that the wheel is prevented from being locked.
However, the inventor of the present application finds that at least the following defects exist in the related art at present in the process of practicing the present application: on one hand, if the ABS is triggered only, the energy recovery is completely stopped, and the energy recovery is recovered after the ABS is not triggered, so that a driver can feel that the vehicle has a more obvious forward-rushing trend, and wheels can be frequently locked when the vehicle runs on a low-attachment road surface, and the safety and the driving performance are poor; on the other hand, if the energy recovery exits after the ABS is triggered and the real-time driving cycle is not recovered, the recovered electric power is reduced, which affects the continuous mileage.
Disclosure of Invention
In view of the above, the present invention is directed to a vehicle anti-lock energy recovery control method, so as to at least solve the problem in the related art that vehicle anti-lock and energy recovery balancing operations cannot be implemented.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle anti-lock energy recovery control method, comprising: detecting whether a wheel locking working condition exists or not; when the wheel locking working condition is not detected, controlling the vehicle to carry out energy recovery operation corresponding to real-time vehicle deceleration; when the wheel locking working condition is detected, judging whether the real-time whole vehicle deceleration is greater than a preset deceleration threshold value; and when the real-time whole vehicle deceleration is larger than or equal to the deceleration threshold, controlling the vehicle to perform energy recovery operation corresponding to the deceleration threshold.
Further, after the controlling the vehicle to perform the energy recovery operation corresponding to the deceleration threshold, the vehicle anti-lock energy recovery control method further includes: detecting whether the vehicle is still in a wheel locking condition after controlling the vehicle to perform an energy recovery operation corresponding to the deceleration threshold value for a set period of time; and when the vehicle is detected not to be in the wheel locking working condition, determining to start recovering to perform energy recovery operation corresponding to the real-time whole vehicle deceleration.
Further, after the detecting whether the vehicle is still in the wheel locking condition, the vehicle anti-lock braking energy recovery control method further includes: and when the vehicle is detected to be still in the wheel locking working condition, stopping executing the energy recovery operation.
Further, the determining to start returning to the energy recovery operation corresponding to the real-time vehicle deceleration includes: detecting the locking times of the wheel locking working condition within a certain driving mileage when the vehicle carries out the energy recovery operation corresponding to the real-time whole vehicle deceleration; if the locking times are lower than a preset time threshold value, determining to continue to carry out energy recovery operation according to the real-time whole vehicle deceleration; and if the locking times are higher than or equal to the times threshold, determining to continue the energy recovery operation according to the deceleration threshold.
Further, the wheel lock condition is detected by performing one or more of the following: the method comprises the steps of obtaining the change rate of the rotating speed of a motor, determining that a wheel locking working condition exists when the change rate of the rotating speed of the motor exceeds a preset rotating speed threshold value, obtaining the slip rate, and determining that the wheel locking working condition exists when the slip rate exceeds a preset slip rate threshold value.
Further, after the step of judging whether the real-time vehicle deceleration is greater than a preset deceleration threshold, the vehicle anti-lock braking energy recovery control method further includes: and when the real-time whole vehicle deceleration is smaller than the deceleration threshold value, controlling to stop executing the energy recovery operation.
Compared with the prior art, the vehicle anti-lock energy recovery control method has the following advantages:
according to the anti-lock vehicle energy recovery control method, the wheel locking working condition is monitored, and when the vehicle is detected to be in the wheel locking working condition, the vehicle is controlled to perform energy recovery operation at the deceleration threshold lower than the current real-time vehicle deceleration, so that the wheel locking probability is reduced while the energy recovery degradation is realized, and the balance between anti-lock vehicle and energy recovery operation is realized.
Another object of the present invention is to provide an anti-lock vehicle energy recovery control apparatus, which at least solves the problem of the prior art that the anti-lock vehicle and energy recovery balance operation cannot be realized.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle anti-lock energy recovery control device, comprising: the locking working condition detection unit is used for detecting whether a wheel locking working condition exists or not; the normal recovery control unit is used for controlling the vehicle to carry out energy recovery operation corresponding to real-time whole vehicle deceleration when the wheel locking working condition is not detected; the deceleration threshold judging unit is used for judging whether the real-time whole vehicle deceleration is greater than a preset deceleration threshold or not when the wheel locking working condition is detected; and the degradation energy recovery control unit is used for controlling the vehicle to carry out energy recovery operation corresponding to the deceleration threshold when the real-time whole vehicle deceleration is greater than or equal to the deceleration threshold.
Further, the vehicle anti-lock energy recovery control apparatus further includes: and the energy recovery grade recovery unit is used for detecting whether the vehicle is still in a wheel locking working condition after controlling the vehicle to carry out energy recovery operation corresponding to the deceleration threshold value for a set time period, and determining to start recovering to carry out energy recovery operation corresponding to real-time whole vehicle deceleration when detecting that the vehicle is not in the wheel locking working condition.
Further, the energy recovery level restoration unit further includes: the locking times detection module is used for detecting the locking times of the wheel locking working condition within a certain driving mileage when the vehicle carries out the energy recovery operation corresponding to the real-time whole vehicle deceleration; and the recovery grade recovery control module is used for determining to continue to perform energy recovery operation according to the real-time finished automobile deceleration if the locking times are lower than a preset times threshold, and determining to continue to perform energy recovery operation according to the deceleration threshold if the locking times are higher than or equal to the times threshold.
Further, the locking condition detection unit is configured to detect a wheel locking condition by performing one or more of the following: the method comprises the steps of obtaining the change rate of the rotating speed of a motor, determining that a wheel locking working condition exists when the change rate of the rotating speed of the motor exceeds a preset rotating speed threshold value, obtaining the slip rate, and determining that the wheel locking working condition exists when the slip rate exceeds a preset slip rate threshold value.
The vehicle anti-lock energy recovery control device and the vehicle anti-lock energy recovery control method have the same advantages compared with the prior art, and are not described again.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flowchart of a vehicle anti-lock energy recovery control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an architecture for detecting wheel antilock behavior in a vehicle antilock energy recovery control method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a vehicle anti-lock energy recovery control method according to an embodiment of the present invention;
FIG. 4 is a flow chart of pre-determination before starting to resume the energy recovery operation of upgrading in the anti-lock braking energy recovery control method for a vehicle according to the embodiment of the invention;
FIG. 5 is a schematic flow chart of a vehicle anti-lock energy recovery control method according to an embodiment of the present invention;
fig. 6 is a block diagram illustrating a configuration of an anti-lock energy recovery control apparatus for a vehicle according to an embodiment of the present invention.
Description of reference numerals:
601 locking working condition detection unit 602 normal recovery control unit
603 deceleration threshold judging section 604 degraded energy recovery control section
605 energy recovery level recovery unit
60 anti-lock braking energy recovery control device for vehicle
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1, a vehicle anti-lock energy recovery control method according to an embodiment of the present invention includes:
and S11, detecting whether the wheel locking working condition exists or not.
Regarding the execution subject of the method of the embodiment of the invention, it may be various controllers or processors, for example, it may be one or more controllers or processors (for example, a vehicle controller) of the vehicle itself, and the vehicle anti-lock energy recovery method of the embodiment of the invention is executed by modifying the controllers or processors in hardware or software; in addition, a vehicle may be provided with one or more new processors or controllers dedicated to the anti-lock braking energy recovery method for a vehicle according to the embodiment of the present invention, and the above are all within the protection scope of the present invention.
The detection process of the wheel locking condition of the embodiment of the present invention may be implemented in one or more ways, and the wheel locking condition is detected by performing one or more of the following processes: the method comprises the steps of obtaining the change rate of the rotating speed of the motor, determining that a wheel locking working condition exists when the change rate of the rotating speed of the motor exceeds a preset rotating speed threshold value, obtaining the slip rate, and determining that the wheel locking working condition exists when the slip rate exceeds a preset slip rate threshold value. Preferably, the detection of the vehicle locking condition may be performed in a plurality of manners together, and it may be determined that the wheel locking condition exists as long as any one of the change rate of the rotation speed of the motor or the slip rate is abnormal.
As shown in fig. 2, in the vehicle anti-lock energy recovery control method according to an embodiment of the present invention, an architecture principle for detecting an anti-lock operation condition of a wheel is adopted, wherein a Vehicle Control Unit (VCU) determines whether a driving wheel is locked according to an input from a motor controller or an ABS, and provides a corresponding torque output command. The Motor Control Unit (MCU) can judge the locking working condition, output a locking flag bit to the VCU when determining that the locking working condition exists, respond to a torque request of the VCU and report an actual torque to the VCU; the ABS can judge the locking working condition, and when the locking working condition is determined to exist, the ABS activation flag bit is sent to the VCU.
In the embodiment, the motor controller acquires the rotating speed of the motor in real time and calculates the change rate of the rotating speed of the motor, and when the change rate of the rotating speed of the motor reaches a threshold value, the motor controller reports a locking flag bit to the vehicle control unit; and the ABS actually detects the vehicle speed and calculates the slip rate, and when the vehicle speed reaches a certain threshold value, the ABS activating flag bit is reported to the whole vehicle controller. Further, when the vehicle control unit receives that any one of the locking flag bit and the ABS activation flag bit sent by the motor controller is activated, the vehicle control unit judges that the wheel locking working condition exists.
And S12, when the wheel locking working condition is not detected, controlling the vehicle to carry out energy recovery operation corresponding to the real-time whole vehicle deceleration.
When the wheel locking working condition is not detected, the vehicle can be controlled to carry out normal energy recovery operation.
And S13, when the wheel locking working condition is detected, judging whether the real-time whole vehicle deceleration is larger than a preset deceleration threshold value.
The deceleration threshold may be a value calibrated through a preliminary test, and may be a value that ensures that the entire vehicle activates the sliding energy recovery on a low-attachment road surface and no wheel locking occurs.
And S14, when the real-time vehicle deceleration is larger than or equal to the deceleration threshold, controlling the vehicle to perform the energy recovery operation corresponding to the deceleration threshold.
In the embodiment, when the vehicle is detected to be in the wheel locking condition, the vehicle can be controlled to perform the energy recovery operation at the deceleration threshold value lower than the current real-time vehicle deceleration, so that the wheel locking is not generated while the energy recovery degradation is realized.
And S15, when the wheel locking condition is detected and the judged real-time vehicle deceleration is smaller than the deceleration threshold, the condition that the energy recovery operation is currently performed cannot be met, and the energy recovery operation can be controlled to stop executing at the moment.
In order to ensure the safe reliability of the anti-lock operation when the whole vehicle performs energy recovery at the deceleration threshold, the embodiment of the invention also provides a vehicle anti-lock energy recovery control method shown in fig. 3, which comprises the following steps:
and S31, detecting whether the vehicle is still in the wheel locking condition after controlling the vehicle to carry out the energy recovery operation corresponding to the deceleration threshold value for a set period of time.
The set time period may also be calibrated in advance through testing, and may represent a time delay for filtering out false triggering conditions and reaction time.
And S32, when the vehicle is detected not to be in the wheel locking working condition, determining to start to recover to perform the energy recovery operation corresponding to the real-time whole vehicle deceleration.
Thus, when it is detected that the vehicle is not in a wheel lock condition, it may be considered whether to upgrade energy recovery, i.e., energy recovery operation corresponding to a driver request or real-time vehicle deceleration. It should be noted that starting recovery here may not mean immediate recovery, for example it may be by making a previous pre-determination before upgrading the energy recovery.
Specifically, as shown in fig. 4, the pre-determination process may include: s321, detecting the locking times of the wheel locking working condition within a certain driving mileage when the vehicle carries out energy recovery operation corresponding to real-time vehicle deceleration; s322, if the locking times are lower than a preset time threshold, determining to continue to perform energy recovery operation according to the real-time whole vehicle deceleration, wherein the time threshold can be 3 times of locking on a road of 1 kilometer, for example; and S323, if the locking times are higher than or equal to the times threshold, determining to continue the energy recovery operation according to the deceleration threshold. If the wheels of the vehicle are locked for multiple times within a certain driving range at real-time finished vehicle deceleration, the current road surface driven by the finished vehicle is judged to be a low-attachment road surface, and therefore energy recovery operation is carried out at a deceleration threshold value.
And S33, stopping executing the energy recovery operation when the vehicle is detected to be still in the wheel locking working condition.
If the wheels are still locked after the energy recovery degrades for a certain time, which indicates that the deceleration threshold value built in the vehicle controller is not credible or has deviation, the vehicle should be controlled to exit the energy recovery function.
As shown in fig. 5, a vehicle anti-lock energy recovery control method according to an embodiment of the present invention includes:
1) the motor controller collects the motor rotating speed in real time and calculates the change rate of the motor rotating speed, and when the change rate of the motor rotating speed reaches a threshold value, the locking flag bit is reported to the whole vehicle controller.
2) And the ABS actually detects the vehicle speed and calculates the slip rate, and when the vehicle speed reaches a certain threshold value, the ABS activating flag bit is reported to the whole vehicle controller.
3) And when the vehicle control unit receives that any one of the locking zone bit and the ABS activation zone bit sent by the motor controller is activated, the vehicle control unit judges that the wheels are locked.
4) The vehicle control unit needs to set a certain vehicle deceleration threshold value A (namely a torque threshold value), and the threshold value needs to ensure that the vehicle activates sliding energy recovery on a low-attachment road surface and wheels are not locked.
5) When the vehicle controller identifies that the wheels are locked, judging whether the current vehicle deceleration is greater than A;
on one hand, if the energy recovery rate is greater than A, the vehicle control unit is required to reduce the energy recovery intensity to A within a certain time;
furthermore, if the wheels are still locked after the energy recovery degrades for a certain time (the time delay is set to filter out the false triggering condition and the reaction time), which indicates that the threshold value a built in the vehicle controller is not trusted, the vehicle controller exits the energy recovery function and does not activate the function in the current driving cycle.
Furthermore, if the wheels are not locked after the energy recovery is degraded for a certain period of time, the deceleration of the whole vehicle is kept at the threshold value a for a period of time, and then the energy recovery intensity (the energy recovery intensity is the deceleration of the whole vehicle) requested by the driver is recovered.
On the other hand, if the vehicle control unit identifies that the wheels are locked and the vehicle deceleration is less than A, the energy recovery function is quitted within a certain time.
In the embodiment of the invention, the reliability of detection aiming at the wheel locking working condition is improved by identifying the ABS activation and simultaneously requiring the motor controller to detect the wheel locking; in addition, in the embodiment, the energy recovery is not completely quitted after the wheels are locked, and the degradation treatment is performed, so that the energy recovery utilization rate is improved; furthermore, the road surface is identified by the number of locking within a certain driving range and energy recovery is carried out at a corresponding vehicle deceleration, so that a balance between energy recovery and anti-lock is achieved.
As shown in fig. 6, a vehicle anti-lock energy recovery control device 60 according to an embodiment of the present invention, the vehicle anti-lock energy recovery control device 60 includes: a locking condition detection unit 601, configured to detect whether a wheel locking condition exists; the normal recovery control unit 602 is configured to control the vehicle to perform an energy recovery operation corresponding to a real-time vehicle deceleration when the wheel locking condition is not detected; a deceleration threshold judging unit 603, configured to, when the wheel locking condition is detected, judge whether the real-time vehicle deceleration is greater than a preset deceleration threshold; and a degraded energy recovery control unit 604, configured to control the vehicle to perform an energy recovery operation corresponding to the deceleration threshold when the real-time vehicle deceleration is greater than or equal to the deceleration threshold.
In some embodiments, the vehicle anti-lock energy recovery control device 60 further includes: an energy recovery level recovery unit 605, configured to detect whether the vehicle is still in a wheel locking condition after controlling the vehicle to perform an energy recovery operation corresponding to the deceleration threshold for a set time period, and determine to start to recover to perform an energy recovery operation corresponding to the real-time vehicle deceleration when detecting that the vehicle is not in the wheel locking condition.
In some embodiments, the energy recovery level recovery unit 605 further comprises: a locking frequency detection module (not shown) for detecting the locking frequency of the wheel locking working condition within a certain driving mileage when the vehicle performs the energy recovery operation corresponding to the real-time vehicle deceleration; and a recovery level recovery control module (not shown) configured to determine to continue performing the energy recovery operation according to the real-time vehicle deceleration if the number of locking times is lower than a preset number threshold, and determine to continue performing the energy recovery operation according to the deceleration threshold if the number of locking times is higher than or equal to the number threshold.
In some embodiments, the locking condition detection unit 601 is configured to detect a wheel locking condition by performing a detection process including one or more of: the method comprises the steps of obtaining the change rate of the rotating speed of a motor, determining that a wheel locking working condition exists when the change rate of the rotating speed of the motor exceeds a preset rotating speed threshold value, obtaining the slip rate, and determining that the wheel locking working condition exists when the slip rate exceeds a preset slip rate threshold value.
For more details of the anti-lock braking energy recovery control device for a vehicle according to the embodiment of the present invention, reference may be made to the above description of the anti-lock braking energy recovery control method for a vehicle, and the same or corresponding technical effects as the anti-lock braking energy recovery control method for a vehicle may be obtained, which are not repeated herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A vehicle anti-lock energy recovery control method, characterized by comprising:
detecting whether a wheel locking working condition exists or not;
when the wheel locking working condition is not detected, controlling the vehicle to carry out energy recovery operation corresponding to real-time vehicle deceleration;
when the wheel locking working condition is detected, judging whether the real-time whole vehicle deceleration is greater than a preset deceleration threshold value; and
when the real-time whole vehicle deceleration is larger than or equal to the deceleration threshold, controlling the vehicle to perform energy recovery operation corresponding to the deceleration threshold;
and when the real-time whole vehicle deceleration is smaller than the deceleration threshold value, controlling to stop executing the energy recovery operation.
2. The vehicle anti-lock energy recovery control method according to claim 1, further comprising, after said controlling the vehicle to perform an energy recovery operation corresponding to the deceleration threshold value:
detecting whether the vehicle is still in a wheel locking condition after controlling the vehicle to perform an energy recovery operation corresponding to the deceleration threshold value for a set period of time;
and when the vehicle is detected not to be in the wheel locking working condition, determining to start recovering to perform energy recovery operation corresponding to the real-time whole vehicle deceleration.
3. The vehicle anti-lock energy recovery control method according to claim 2, further comprising, after said detecting whether the vehicle is still in a wheel lock condition:
and when the vehicle is detected to be still in the wheel locking working condition, stopping executing the energy recovery operation.
4. The vehicle antilock energy recovery control method according to claim 2, wherein said determining to start resuming to performing the energy recovery operation corresponding to the real-time vehicle deceleration includes:
detecting the locking times of the wheel locking working condition within a certain driving mileage when the vehicle carries out the energy recovery operation corresponding to the real-time whole vehicle deceleration;
if the locking times are lower than a preset time threshold value, determining to continue to carry out energy recovery operation according to the real-time whole vehicle deceleration; and
and if the locking times are higher than or equal to the time threshold value, determining to continue the energy recovery operation according to the deceleration threshold value.
5. The vehicle antilock energy recovery control method of claim 1, wherein the wheel lock condition is detected by performing a process comprising one or more of:
obtaining the change rate of the rotating speed of the motor, determining that a wheel locking working condition exists when the change rate of the rotating speed of the motor exceeds a preset rotating speed threshold value, and
and obtaining the slip rate, and determining that the wheel locking working condition exists when the slip rate exceeds a preset slip rate threshold value.
6. An anti-lock vehicle energy recovery control device, characterized by comprising:
the locking working condition detection unit is used for detecting whether a wheel locking working condition exists or not;
the normal recovery control unit is used for controlling the vehicle to carry out energy recovery operation corresponding to real-time whole vehicle deceleration when the wheel locking working condition is not detected;
the deceleration threshold judging unit is used for judging whether the real-time whole vehicle deceleration is greater than a preset deceleration threshold or not when the wheel locking working condition is detected; and
and the degradation energy recovery control unit is used for controlling the vehicle to perform energy recovery operation corresponding to the deceleration threshold when the real-time vehicle deceleration is greater than or equal to the deceleration threshold, and controlling to stop performing the energy recovery operation when the real-time vehicle deceleration is less than the deceleration threshold.
7. The vehicle anti-lock energy recovery control device according to claim 6, further comprising:
and the energy recovery grade recovery unit is used for detecting whether the vehicle is still in a wheel locking working condition after controlling the vehicle to carry out energy recovery operation corresponding to the deceleration threshold value for a set time period, and determining to start recovering to carry out energy recovery operation corresponding to real-time whole vehicle deceleration when detecting that the vehicle is not in the wheel locking working condition.
8. The vehicle antilock energy recovery control device according to claim 7, wherein the energy recovery level restoration unit further comprises:
the locking times detection module is used for detecting the locking times of the wheel locking working condition within a certain driving mileage when the vehicle carries out the energy recovery operation corresponding to the real-time whole vehicle deceleration;
and the recovery grade recovery control module is used for determining to continue to perform energy recovery operation according to the real-time finished automobile deceleration if the locking times are lower than a preset times threshold, and determining to continue to perform energy recovery operation according to the deceleration threshold if the locking times are higher than or equal to the times threshold.
9. The vehicle antilock energy recovery control device according to claim 6, wherein said locking condition detection unit is configured to detect a wheel locking condition by performing a process including one or more of:
obtaining the change rate of the rotating speed of the motor, determining that a wheel locking working condition exists when the change rate of the rotating speed of the motor exceeds a preset rotating speed threshold value, and
and obtaining the slip rate, and determining that the wheel locking working condition exists when the slip rate exceeds a preset slip rate threshold value.
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| CN112406825B (en) * | 2020-11-10 | 2021-12-17 | 东风越野车有限公司 | Braking energy recovery control method |
| CN112895911B (en) * | 2020-11-10 | 2022-08-30 | 长城汽车股份有限公司 | Method and device for controlling torque of wet and slippery road surface and terminal equipment |
| CN114670649A (en) * | 2020-12-24 | 2022-06-28 | 威马智慧出行科技(上海)股份有限公司 | Electric automobile energy recovery method and electronic equipment |
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