CN-116749778-B - Energy recovery method, device, storage medium and vehicle

CN116749778BCN 116749778 BCN116749778 BCN 116749778BCN-116749778-B

Abstract

The disclosure relates to an energy recovery method, an energy recovery device, a storage medium and a vehicle, which are applied to a pure electric vehicle, and can improve the accuracy of gradient estimation in an energy recovery strategy, thereby improving the energy utilization rate of the whole vehicle and ensuring the braking safety and driving comfort of the vehicle. The energy recovery method comprises the steps of obtaining a first gradient value of a position of a vehicle from a gyroscope, obtaining a second gradient value of the position of the vehicle and a third gradient value of a road section in front of the vehicle, when a running road condition of the vehicle is a gradient road condition, determining a target gradient value of the position of the vehicle according to the first gradient value, the second gradient value and the third gradient value, and recovering energy of the vehicle according to the target gradient value.

Inventors

XU LEI
DU SHIXUAN
YING XIANG
LI YANG

Assignees

北汽福田汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20230629

Claims (8)

1. An energy recovery method for use with an electric-only vehicle, the method comprising: acquiring a first gradient value of a position where a vehicle is located from a gyroscope; Acquiring a second gradient value of the position of the vehicle and a third gradient value of a road section in front of the vehicle driving from a high-precision map module; When the running road condition of the vehicle is a gradient road condition, determining a difference value between the first gradient value and the second gradient value, and comparing the difference value with a preset gradient value; If the difference value is smaller than or equal to the preset gradient value, the gradient value closest to the third gradient value in the first gradient value and the second gradient value is used as a target gradient value of the position where the vehicle is located; If the difference value is larger than the preset gradient value, taking the average gradient value of the first gradient value and the second gradient value as a target gradient value of the position of the vehicle; And according to the target gradient value, recovering energy of the vehicle.
2. The method according to claim 1, wherein the method further comprises: Determining a target energy recovery mode of the vehicle according to the opening degree of a brake pedal and the opening degree of an accelerator pedal of the vehicle; and according to the target gradient value, recovering energy of the vehicle, including: When the target energy recovery mode comprises a braking energy recovery mode, determining a first deceleration according to the target gradient value and a first corresponding relation between the gradient value and the braking energy recovery deceleration, and recovering braking energy of the vehicle according to the first deceleration; And when the target energy recovery mode comprises a sliding energy recovery mode, determining a second deceleration according to the target gradient value and a second corresponding relation between the gradient value and the sliding energy recovery deceleration, and carrying out sliding energy recovery on the vehicle according to the second deceleration.
3. The method according to claim 2, wherein the method further comprises: determining a third deceleration according to the third gradient value and the first correspondence; the braking energy recovery for the vehicle according to the first deceleration includes: When the running road condition of the vehicle is a continuous ascending road condition, determining braking energy recovery torque according to the first deceleration, and when the difference between the first deceleration and the third deceleration is larger than a first preset deceleration value, controlling the braking energy recovery torque to be reduced in a gradient mode according to a first preset torque adjustment value to obtain target braking energy recovery torque; when the running road condition of the vehicle is a continuous downhill road condition, determining the braking energy recovery torque according to the first deceleration, and controlling the braking energy recovery torque to be increased in a gradient mode according to the first preset torque adjustment value when the difference between the first deceleration and the third deceleration is larger than the first preset deceleration value, so as to obtain the target braking energy recovery torque; And recovering braking energy of the vehicle according to the target braking energy recovery torque.
4. The method according to claim 2, wherein the method further comprises: determining a fourth deceleration according to the third gradient value and the second correspondence; Said coasting energy recovery of said vehicle in accordance with said second deceleration comprising: When the running road condition of the vehicle is a continuous ascending road condition, determining a sliding energy recovery torque according to the second deceleration, and when the difference between the second deceleration and the fourth deceleration is larger than a second preset deceleration value, controlling the sliding energy recovery torque to be reduced in a gradient manner according to a second preset torque adjustment value to obtain a target sliding energy recovery torque; When the running road condition of the vehicle is a continuous downhill road condition, determining the coasting energy recovery torque according to the second deceleration, and controlling the coasting energy recovery torque to be increased in a gradient mode according to the second preset torque adjustment value when the difference between the second deceleration and the fourth deceleration is larger than the second preset deceleration value, so as to obtain the target coasting energy recovery torque; and recovering the sliding energy of the vehicle according to the target sliding energy recovery torque.
5. The method according to claim 1, wherein the method further comprises: when the running road condition of the vehicle is a flat road condition, determining a target energy recovery mode of the vehicle according to the opening of a brake pedal and the opening of an accelerator pedal of the vehicle; when the target energy recovery mode comprises a braking energy recovery mode, braking energy recovery is carried out on the vehicle according to preset braking energy recovery deceleration; and when the target energy recovery mode comprises a sliding energy recovery mode, the vehicle is subjected to sliding energy recovery according to a preset sliding energy recovery deceleration.
6. An energy recovery device, comprising: The first acquisition module is used for acquiring a first gradient value of the position of the vehicle from the gyroscope; The second acquisition module is used for acquiring a second gradient value of the position of the vehicle and a third gradient value of the road section in front of the vehicle running from the high-precision map module; the determining module is used for determining a difference value between the first gradient value and the second gradient value when the running road condition of the vehicle is a gradient road condition, and comparing the difference value with a preset gradient value; If the difference value is smaller than or equal to the preset gradient value, the gradient value closest to the third gradient value in the first gradient value and the second gradient value is used as a target gradient value of the position where the vehicle is located; And the first energy recovery module is used for recovering energy of the vehicle according to the target gradient value.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1-5.
8. The vehicle is characterized by comprising a gyroscope, a high-precision map module and a whole vehicle controller; The gyroscope is used for acquiring a first gradient value of the position of the vehicle; the high-precision map module is used for acquiring a second gradient value of the position where the vehicle is located and a third gradient value of the road section in front of the vehicle; The vehicle control unit is configured to execute the energy recovery method according to any one of claims 1 to 5.

Description

Energy recovery method, device, storage medium and vehicle Technical Field The disclosure relates to the technical field of vehicles, and in particular relates to an energy recovery method, an energy recovery device, a storage medium and a vehicle. Background In the energy utilization of electric vehicles, energy recovery is considered as a very efficient way, and also becomes a characteristic feature of electric vehicles. The gradient estimation in the energy recovery strategy can help the vehicle system to accurately acquire gradient information of the current vehicle, so that the working mode of the vehicle is adjusted according to the information, the energy recovery system is effectively controlled, and more efficient energy utilization is realized. However, in the related art, a large error exists in gradient estimation, and it is difficult to distinguish a small gradient working condition, so that conditions such as reduced braking force when stepping on a brake and the like occur, and driving safety and driving comfort of a vehicle are reduced. Disclosure of Invention The disclosure aims to provide an energy recovery method, an energy recovery device, a storage medium and a vehicle, so as to solve the problems that in the related art, a large error exists in gradient estimation, and a small gradient working condition is difficult to distinguish or a gradient calculation error cannot be corrected. To achieve the above object, in a first aspect, the present disclosure provides an energy recovery method applied to an electric vehicle, the method comprising: acquiring a first gradient value of a position where a vehicle is located from a gyroscope; Acquiring a second gradient value of the position of the vehicle and a third gradient value of a road section in front of the vehicle driving from a high-precision map module; When the running road condition of the vehicle is a gradient road condition, determining a target gradient value of the position of the vehicle according to the first gradient value, the second gradient value and the third gradient value; And according to the target gradient value, recovering energy of the vehicle. Optionally, the determining the target gradient value of the position of the vehicle according to the first gradient value, the second gradient value and the third gradient value includes: Determining a difference between the first gradient value and the second gradient value, and comparing the difference with a preset gradient value; If the difference value is smaller than or equal to the preset gradient value, the gradient value closest to the third gradient value in the first gradient value and the second gradient value is used as a target gradient value of the position where the vehicle is located; And if the difference value is larger than the preset gradient value, taking the average gradient value of the first gradient value and the second gradient value as a target gradient value of the position of the vehicle. Optionally, the method further comprises: Determining a target energy recovery mode of the vehicle according to the opening degree of a brake pedal and the opening degree of an accelerator pedal of the vehicle; and according to the target gradient value, recovering energy of the vehicle, including: When the target energy recovery mode comprises a braking energy recovery mode, determining a first deceleration according to the target gradient value and a first corresponding relation between the gradient value and the braking energy recovery deceleration, and recovering braking energy of the vehicle according to the first deceleration; And when the target energy recovery mode comprises a sliding energy recovery mode, determining a second deceleration according to the target gradient value and a second corresponding relation between the gradient value and the sliding energy recovery deceleration, and carrying out sliding energy recovery on the vehicle according to the second deceleration. Optionally, the method further comprises: determining a third deceleration according to the third gradient value and the first correspondence; the braking energy recovery for the vehicle according to the first deceleration includes: When the running road condition of the vehicle is a continuous ascending road condition, determining braking energy recovery torque according to the first deceleration, and when the difference between the first deceleration and the third deceleration is larger than a first preset deceleration value, controlling the braking energy recovery torque to be reduced in a gradient mode according to a first preset torque adjustment value to obtain target braking energy recovery torque; when the running road condition of the vehicle is a continuous downhill road condition, determining the braking energy recovery torque according to the first deceleration, and controlling the braking energy recovery torque to be increased in a gradient mode according to the first