CN114889438A - Energy recovery method for hybrid vehicle and hybrid vehicle - Google Patents
Energy recovery method for hybrid vehicle and hybrid vehicle Download PDFInfo
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Abstract
The invention provides an energy recovery method of a hybrid vehicle and the hybrid vehicle. The energy recovery method of the hybrid vehicle includes acquiring driving behavior state information of the vehicle, the driving behavior state information including at least a driving mode of the vehicle and a driving style of a driver; acquiring road condition information in the driving direction of a vehicle, wherein the road condition information at least comprises traffic light distribution conditions and traffic information; and the vehicle control unit respectively determines the motor regenerative torque of the vehicle for energy recovery in a sliding mode and a braking mode according to the driving behavior state information and the road condition information. The technical scheme of the invention can improve the energy recovery effect of the hybrid vehicle.
Description
Technical Field
The invention relates to the technical field of hybrid vehicles, in particular to an energy recovery method of a hybrid vehicle and the hybrid vehicle.
Background
The hybrid electric vehicle has two power source outputs of an engine and a motor, wherein the motor plays an important role in the energy recovery function of the vehicle, and if the energy recovery control strategy cannot be effectively developed, the energy recovery effect of the vehicle is certainly influenced, and the economic performance of the whole vehicle is further influenced.
At present, the existing energy recovery control strategies only consider single factors such as motor recovery efficiency, torque distribution control, driving intention of a driver or road surface type, and the like, so that the energy recovery effect is poor, and the economic performance of the whole vehicle is influenced.
Disclosure of Invention
The invention mainly aims to provide an energy recovery method of a hybrid vehicle and the hybrid vehicle, so as to improve the energy recovery effect of the hybrid vehicle.
In order to achieve the above object, according to one aspect of the present invention, there is provided an energy recovery method of a hybrid vehicle, including: acquiring driving behavior state information of a vehicle, wherein the driving behavior state information at least comprises a driving mode of the vehicle and a driving style of a driver; acquiring road condition information in the driving direction of a vehicle, wherein the road condition information at least comprises traffic light distribution conditions and traffic information; and the vehicle control unit respectively determines the motor regenerative torque of the vehicle for energy recovery in a sliding mode and a braking mode according to the driving behavior state information and the road condition information.
Further, when the vehicle is in the coast mode, the motor regenerative torque is determined by the following equation: f 1 _mot＝F 1 *(F a /F c )*(F b /F m ) Wherein, F 1 Recovering torque for the motor, F a The maximum braking force of the vehicle in running; f c The average value of the actual braking force of the vehicle under the current working condition is taken as the average value; f b Is the actual maximum braking force under the current road conditions, F m Maximum braking force for the electric machine, wherein F a 、F c 、F b And F m The units of (A) are all N.
Further, when the vehicle is in the braking mode, the motor regenerative torque is determined by the following equation: f 2 _mot＝F 2 *(F a /F c )*(F b /F m ) Wherein F is 2 To recover torque for braking, F a The maximum braking force of the vehicle in running; f c The average value of the actual braking force of the vehicle under the current working condition is taken as the average value; f b Is the actual maximum braking force under the current road conditions, F m Maximum braking force for the electric machine, wherein F a 、F c 、F b And F m The units of (A) are all N.
Further, determining that the vehicle is in a coast mode andafter the step of regenerating torque of the motor for energy recovery in the braking mode, the energy recovery method further comprises the step of recovering energy according to the driving behavior state information and the road condition information and according to multiple gears, and when the torque is more than or equal to 0.8 (F) a /F c )*(F b /F m ) When the energy is less than 1, the energy recovery mode is strong; when the ratio is 0.5 ≦ (F) a /F c )*(F b /F m ) When the frequency is less than 0.8, the mode is an intermediate energy recovery mode; when 0 < (F) a /F c )*(F b /F m ) And when the frequency is less than 0.5, the energy recovery mode is a weak energy recovery mode.
Further, the energy recovery method also comprises the steps of judging whether the energy recovery mode is a weak energy recovery mode, and if not, reminding a driver to recover the energy; if so, the driver is prompted to change the driving style and/or driving route.
Further, the energy recovery method further comprises: acquiring vehicle state information in the running process of a vehicle, wherein the vehicle state information comprises at least one of the speed, the acceleration, the load and the power source state of the vehicle, accelerator pedal information and brake pedal information; and judging whether the vehicle is in a coasting mode or a braking mode according to the vehicle state information, and if so, executing an energy recovery step.
Further, the road condition information further includes at least one of a distance between the vehicle and a preceding vehicle or an obstacle, a ground adhesion coefficient, and a vehicle turning condition.
According to another aspect of the present invention, there is provided an energy recovery system of a hybrid vehicle, including: the energy recovery judging unit is used for judging whether the current vehicle is in a sliding mode or a braking mode; the system comprises an acquisition unit, a communication unit and a communication unit, wherein the acquisition unit at least comprises a CAN network bus and an intelligent network connection control system and is used for acquiring driving behavior state information of a vehicle and road condition information in the driving direction of the vehicle, the driving behavior state information at least comprises a driving mode of the vehicle and a driving style of a driver, and the road condition information at least comprises traffic light distribution conditions and traffic information; and the energy recovery unit is used for determining the motor regeneration torque of the vehicle for energy recovery in the sliding mode and the braking mode according to the driving behavior state information and the road condition information.
According to another aspect of the present invention, a computer-readable storage medium is provided, in which program code is stored, and the program code can be called by a processor to execute the energy recovery method.
According to another aspect of the present invention, there is provided a hybrid vehicle for performing the energy recovery method described above.
By applying the technical scheme of the invention, the driving mode of the vehicle refers to a vehicle control mode manually selected by a driver through a key, such as an economy mode, a sport mode or a comfort mode; the driving style of the driver refers to big data information collected through intelligent network connection, and specifically, the driving behavior of the user, such as an aggressive type, a normal type or a mild type, is judged through big data such as background storage based on data indexes of driving performance of the driver (such as the number and frequency of steps on an accelerator and a brake pedal, the degree of steps on the accelerator and the brake pedal, the corresponding speed and acceleration of the vehicle, and the like). Therefore, the vehicle control unit can more accurately determine the motor regeneration torque of the vehicle for energy recovery in the sliding mode and the braking mode respectively according to the driving behavior state information and the road condition information, so that the hybrid electric vehicle can recover the energy based on the driving behavior, the road condition information and other multidimensional factors, the defect that the efficiency and the effect of energy recovery are lower due to the fact that only a single factor is considered in the energy recovery of the vehicle in the prior art is overcome, and the energy recovery effect of the hybrid electric vehicle can be improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a flow chart of an embodiment of an energy recovery method of a hybrid vehicle according to the present invention;
FIG. 2 is a schematic diagram illustrating information obtained by the energy recovery method of the hybrid vehicle of FIG. 1;
FIG. 3 shows an architectural schematic of an energy recovery system of a hybrid vehicle according to the present invention;
FIG. 4 illustrates an energy recovery flow diagram of the energy recovery system of the hybrid vehicle according to FIG. 3; and
fig. 5 shows a schematic architecture of the powertrain of a hybrid vehicle according to the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that, with the development and application of the vehicle intelligent driving system, the behavior and habit of the user for operating the vehicle also change, and the technologies such as the comprehensive utilization rate of energy combined with the road condition information are also developed, popularized and applied. The embodiment of the invention provides an energy recovery method of a hybrid power vehicle, which can combine an intelligent networking technology and carry out energy recovery based on multi-dimensional factors, so as to enhance the driving control experience and the energy recovery effect of the vehicle and further improve the economic performance of the whole vehicle.
As shown in fig. 1 and 2, an embodiment of the present invention provides an energy recovery method of a hybrid vehicle. An energy recovery method of a hybrid vehicle includes:
acquiring driving behavior state information of a vehicle, wherein the driving behavior state information at least comprises a driving mode of the vehicle and a driving style of a driver;
acquiring road condition information in the driving direction of a vehicle, wherein the road condition information at least comprises traffic light distribution conditions and traffic information;
and the vehicle control unit respectively determines the motor regenerative torque of the vehicle for energy recovery in a sliding mode and a braking mode according to the driving behavior state information and the road condition information.
In the above technical solution, the driving mode of the vehicle refers to a vehicle operation mode manually selected by a driver through a key, such as an economy mode, a sport mode, or a comfort mode; the driving style of the driver refers to big data information collected through intelligent network connection, and specifically, the driving behavior of the user, such as aggressive type, normal type or mild type, is judged through big data such as background storage based on data indexes of past driving performance of the driver (such as the number and frequency of steps on an accelerator and a brake pedal, the degree of steps on the accelerator and the brake pedal, corresponding vehicle speed and acceleration and the like). For example, based on the previously obtained data, if the driver has a high number and frequency of steps on the accelerator and brake pedals, a high degree of steps, and a high corresponding vehicle acceleration, then the driver may be considered to be aggressive.
Through the arrangement, the vehicle control unit can determine the motor regeneration torque of the vehicle for energy recovery under the sliding mode and the braking mode respectively more accurately according to the driving behavior state information and the road condition information, so that the hybrid electric vehicle can intelligently and reasonably recover the energy based on multi-dimensional factors such as the driving behavior and the road condition information, the defect that the energy recovery of the vehicle in the prior art only considers a single factor to result in the energy recovery efficiency and effect is lower is overcome, the operation experience of a driver and the energy recovery effect of the hybrid electric vehicle can be improved, and the economic performance of the whole vehicle is improved.
Preferably, the vehicle control unit VCU identifies and predicts an energy recovery function based on driving behavior state information, road condition information state, and powertrain information of the vehicle uploaded by the intelligent internet system, comprehensively determines an energy recovery condition, and calls an energy recovery module and an energy recovery torque MAP to perform energy recovery control. The VCU of the vehicle controller actively predicts the energy recovery time and energy recovery gear based on the road condition information and the driving behavior information, knows the road condition information in front of the vehicle in advance by using a radar and a camera based on GPS navigation data, identifies the energy recovery in advance according to the road condition information, and sends the predicted energy recovery intensity information to the intelligent network connection control system. Meanwhile, the intelligent internet control system reminds a driver through an instrument or an entertainment system, for example, a vehicle is about to come from a gear with stronger energy recovery intensity (such as a strong, medium and weak energy recovery mode).
In an embodiment of the present invention, when the vehicle is in the coast mode, the regenerative torque of the electric machine is determined by the following equation:
F 1 _mot＝F 1 *(F a /F c )*(F b /F m )，
wherein, F 1 Recovering torque for the motor, F a The maximum braking force of the vehicle in running; f c The average value of the actual braking force of the vehicle under the current working condition is taken as the average value; f b Is the actual maximum braking force under the current road conditions, F m Maximum braking force for the electric machine, wherein F a 、F c 、F b And F m The units of (A) are all N.
In the above technical solution, F 1 Determine and recall according to calibration MAP Table 1 below, F 1 Is related to the running speed of the vehicle and the rotation speed of the motor. The specific recoverable torque of the motor is not shown in table 1, but is an example, and the value can be directly obtained according to the specific vehicle running speed and the motor and integrated on the vehicle control unit; (F) a /F c ) As a driving behavior state influencing factor, wherein F a Is related to the driving mode and the driving style of the driver, see table 2 below.
F c Determining the braking force according to the corresponding braking force under different working conditions calibrated in advance, wherein the different working conditions comprise a congestion working condition, a smooth working condition, a medium-speed working condition, a high-speed working condition, a low-speed working condition and the like, and specifically F c Determined by the following equation: f c ＝(F max +F min ) /2 wherein F max Is the maximum value of the braking force under the current working condition, F min If the minimum value of the braking force is the minimum value under the current working condition, for example, if the current working condition is a smooth working condition, F can be determined by inquiring the preset value correspondingly max And F min (ii) a Thus, F c The size of (a) is related to road condition information (e.g., traffic light distribution, traffic information, and ground adhesion coefficient), and can be specifically referred to in table 3 below.
When (F) a /F c ) The smaller the value of (c), the more aggressive the driving style of the user is indicated,the less energy that can be recovered. F b Determined according to preset operating conditions, F m Can be obtained by the signal calculated and sent by the motor controller MCU (F) b /F m ) The smaller the value of (c), the higher the congestion level of the vehicle, and the smaller the energy recovered.
TABLE 1 coasting energy recovery Torque calibration MAP table
Through the arrangement, when the vehicle is in the sliding mode, the hybrid electric vehicle can recover energy based on multidimensional factors such as driving behaviors and road condition information, and therefore the energy recovery effect of the hybrid electric vehicle is improved.
TABLE 2 maximum braking force F of vehicle during running a
| Driving mode | Driving style | Fa(N) |
| Comfort mode | Radical type | 1300 |
| Comfort mode | Normal type | 1900 |
| Comfort mode | Mild type | 2100 |
| Economy mode | Radical type | 1500 |
| Economy mode | Normal type | 2000 |
| Economy mode | Mild type | 2200 |
TABLE 3 braking force of vehicle under different road conditions
It should be noted that, for different types of vehicles, under different working conditions, F b And F m May be different.
In an embodiment of the present invention, when the vehicle is in the braking mode, the motor regenerative torque is determined by the following equation:
F 2 _mot＝F 2 *(F a /F c )*(F b /F m )，
wherein, F 2 To recover torque for braking, F a The maximum braking force of the vehicle in running; f c The average value of the actual braking force of the vehicle under the current working condition is taken as the average value; f b Is the actual maximum braking force under the current road conditions, F m The maximum braking force provided for the motor. In the above technical solution, F 2 Determine and recall according to calibration MAP Table 4 below, F 2 Is related to a master cylinder pressure signal of a brake pedal of the vehicle.
TABLE 4 calibration MAP table for braking energy recovery torque
| Master cylinder pressure signal (bar) | 0 | 5 | 10 | 20 | 50 | 70 | 100 |
| Braking energy recovery Torque (Nm) | 0 | m1 | m2 | m3 | m4 | m5 | m6 |
Through the arrangement, when the vehicle is in the braking mode, the hybrid electric vehicle can recover energy based on multidimensional factors such as driving behaviors and road condition information, and therefore the energy recovery effect of the hybrid electric vehicle is improved.
In addition, it should be noted that a plurality of the coasting energy recovery torque calibration MAP tables in table 1 and the braking energy recovery torque calibration MAP tables in table 4 may be calibrated according to actual needs to adapt to different driving styles and driving conditions.
As shown in fig. 1 and 2, in the embodiment of the present invention, the road condition information further includes at least one of a distance between the vehicle and a preceding vehicle or an obstacle, a ground adhesion coefficient, and a vehicle turning condition.
In the technical scheme, the road condition information further comprises road surface types, wherein the road surface types are concrete road surfaces, dry asphalt, wet asphalt, ash tamping road, sand paving sub-road, snow surface, flat ice road surfaces and the like; as can be seen from Table 5 below, the adhesion coefficient of the tire on the above-mentioned road surface types decreases in the order of 1.0 to 0.1; since the smaller the road surface adhesion coefficient, the smaller the rolling resistance of the road, the more regenerative braking is required for the vehicle to compensate, thereby obtaining a uniform deceleration effect and improving energy recovery efficiency. In the present application, the ground adhesion coefficient is one of the considered parameters, and thus energy recovery can be performed more favorably.
Alternatively, the ground adhesion coefficient is referenced in the following table:
TABLE 5 coefficient of ground adhesion
Through the arrangement, the hybrid electric vehicle can actively predict the actual energy recovery and the intensity of energy recovery based on more dimensionality factors, and provide reference and basis for energy recovery of a driver, so that the energy recovery effect of the hybrid electric vehicle can be further improved.
Preferably, the traffic light distribution and other traffic information may be acquired by a vehicle intelligent internet control system (including sensing equipment, communication equipment and the like).
In an embodiment of the present invention, after the step of determining the regenerative torque of the motor for energy recovery of the vehicle in the coasting mode and the braking mode, the energy recovery method further comprises recovering energy according to a plurality of gears based on the driving behavior state information and the road condition information,
when the ratio is 0.8 ≦ (F) a /F c )*(F b /F m ) When the energy is less than 1, the energy recovery mode is strong;
when the ratio is 0.5 ≦ (F) a /F c )*(F b /F m ) When the frequency is less than 0.8, the mode is an intermediate energy recovery mode;
when 0 < (F) a /F c )*(F b /F m ) And when the frequency is less than 0.5, the energy recovery mode is a weak energy recovery mode.
In the above technical solution, (F) a /F c ) Is related to the driving style of the user, such that (F) a /F c ) The smaller the value of (a), the more aggressive the driving style of the user is, the smaller the recoverable energy will be; (F) b /F m ) Is related to road condition information such that (F) b /F m ) The smaller the value of (c), the more congested the vehicle is in, the smaller the recoverable energy.
By the above arrangement, (F) a /F c )*(F b /F m ) The smaller the value of (A), the less energy can be recovered, when (F) a /F c )*(F b /F m ) The greater the value of (A), the greater the energy that can be recovered, thus according to (F) a /F c )*(F b /F m ) Can be calibrated to a plurality of gears.
As shown in the parameters in table 2 and table 3, taking the case where the driving mode is the comfort mode, the driving style is the aggressive type, and the vehicle is in the congestion condition as an example: f a Is 1300N, F c 2450N, F b Is 2500N, F m 2750N, therefore, F a /F c ＝1300/2450＝0.53，F b /F m 0.91 when 2500/2750, then (F) a /F c )*(F b /F m ) At this time, the energy recovery mode is the weak energy recovery mode, 0.48.
Similarly, in the comfort mode, the driving style is normal and the driving style is in a smooth working condition as an example: f a /F c ＝1900/2350＝0.81，F b /F m ＝2400/2600＝0.92，(F a /F c )*(F b /F m ) 0.75, corresponding to a medium energy recovery mode;
taking the example that in the economic mode, the driving style is mild and the vehicle is in a smooth working condition: f a /F c ＝2200/2350＝0.94，F b /F m ＝2400/2600＝0.92，(F a /F c )*(F b /F m ) 0.86 corresponds to the strong energy recovery mode.
Therefore, the energy recovery gear is judged in advance, the functions of reminding and warning the driver can be achieved, basis and support are provided for subsequent operation of the driver, and the energy recovery of the vehicle can be better achieved in the sliding mode and the braking mode.
Of course, in other embodiments, besides the parameters such as the driving mode, the driving style and the working condition, the influence of factors such as the ground adhesion coefficient, the traffic light distribution, the distance between the vehicle and the front vehicle (or the obstacle) and the like can be comprehensively considered, so that the grade of the energy recovery mode can be accurately pre-judged, and a basis is provided for the subsequent behaviors of the driver.
In the embodiment of the invention, the energy recovery method also comprises the steps of judging whether the energy recovery mode is a weak energy recovery mode, and if not, reminding a driver to recover the energy; if so, the driver is prompted to change the driving style and/or driving route.
Through the arrangement, after the grade of energy recovery is determined according to the driving behavior state information and the road condition information, the intelligent internet control system can inform the instrument to prompt so as to remind a driver of the energy recovery condition of the vehicle at the moment, if the vehicle is in a weak energy recovery mode, the driver should pay attention to the driving behavior of the driver, for example, the driving style can be changed from an aggressive type to a mild type or a normal type, and the road condition jam can be avoided as much as possible. Therefore, through cooperative control and human-computer interaction information reminding, some driving behaviors of the driver can be properly changed, more energy recovered by the vehicle is provided, and the economy of the vehicle is further improved.
As shown in fig. 1 and 2, in an embodiment of the present invention, the energy recovery method further includes:
acquiring vehicle state information in the running process of a vehicle, wherein the vehicle state information comprises at least one of the speed, the acceleration, the load and the power source state of the vehicle, accelerator pedal information and brake pedal information;
and judging whether the vehicle is in a coasting mode or a braking mode according to the vehicle state information, and if so, executing an energy recovery step.
In the technical scheme of the application, when the vehicle state information meets all the following conditions, the representative vehicle is in a coasting mode:
1) the vehicle is in gear (corresponding control signal LeverInfo ═ D/R); 2) the ABS/ESP working flag bit is 0 (corresponding control signal absiterven is 0 and espiterven is 0, 0 indicates no working); 3) ABS/ESP system no fault (corresponding control signal abserrstatus 0 and esperrstatus 0, 0 indicates no fault); 4) the accelerator pedal is loosened without failure, and the brake pedal is loosened without failure; 5) the vehicle speed is more than 10km/h (can be calibrated); 6) the battery is continuously charged and the allowable power is larger than 0 (the corresponding control signal BattChrgPwrAvail is larger than 0); 7) the BSG motor has power generation capability (corresponding control signal | BSGMaxiAvailGenTrq | > 0).
When the vehicle state information does not satisfy any of the above conditions, it is necessary to control the vehicle to exit the coasting energy recovery function. When the vehicle is quitted, the sliding energy recovery torque is gradually quitted and cannot be quitted in a step mode, and the sliding energy recovery torque is generally controlled in a mode that the sliding torque is gradually reduced along with the reduction of the vehicle speed until the vehicle is completely quitted. By the arrangement, the vehicle can be ensured to have better driving experience and safety.
In addition, when esp (abs) is triggered, the coasting recovery torque should be withdrawn, and should be withdrawn gradually with a certain slope, rather than instantaneously, to ensure the comfort of the vehicle. After ESP (ABS) is withdrawn, the output torque of the whole vehicle is increased to the target value required by VCU control according to a certain slope.
When the vehicle state information satisfies all of the following conditions, it represents that the vehicle is in the braking mode:
1) the vehicle is in gear (corresponding control signal LeverInfo ═ D/R); 2) the ABS/ESP working flag bit is 0 (corresponding control signal absiterven is 0 and espiterven is 0, 0 indicates no working); 3) ABS/ESP system no fault (corresponding control signal abserrstatus 0 and esperrstatus 0, 0 indicates no fault); 4) when the accelerator pedal is loosened and the brake pedal is stepped down, the accelerator and the brake pedal have no fault; 5) the vehicle speed is more than 10km/h (can be calibrated); 6) the battery is continuously charged and the allowable power is larger than 0 (the corresponding control signal BattChrgPwrAvail > 0); 7) the BSG motor has power generation capability (corresponding control signal | BSGMaxiAvailGenTrq | > 0).
When the vehicle is already in a braking energy recovery state and the state information of the vehicle does not meet any of the above conditions, the vehicle needs to be controlled to exit the braking energy recovery function, and the vehicle should exit gradually according to a certain slope instead of being cut off instantaneously when exiting. When esp (abs) is triggered, the brake recovery torque should be withdrawn, and should be withdrawn gradually with a certain slope, rather than instantaneously, to ensure vehicle comfort. After ESP (ABS) quits, the vehicle output torque rises to the target value required by VCU control according to a certain slope.
Through the arrangement, the vehicle control unit can judge whether the vehicle is in a sliding mode or a braking mode according to the vehicle state information, and execute corresponding energy recovery steps in different modes.
In addition, when the vehicle detects a instability, the vehicle enters ABS/ESP control, that is, the vehicle does not perform energy recovery under emergency braking; when signals of an accelerator and a brake pedal are in fault, or a motor and a battery system are in fault, the vehicle does not recover energy.
As shown in fig. 3 and 4, an embodiment of the present invention provides an energy recovery system of a hybrid vehicle, including:
the energy recovery judging unit is used for judging whether the current vehicle is in a sliding mode or a braking mode;
the system comprises an acquisition unit, a communication unit and a communication unit, wherein the acquisition unit at least comprises a CAN network bus and an intelligent network connection control system and is used for acquiring driving behavior state information of a vehicle and road condition information in the driving direction of the vehicle, the driving behavior state information at least comprises a driving mode of the vehicle and a driving style of a driver, and the road condition information at least comprises traffic light distribution conditions and traffic information;
and the energy recovery unit is used for determining the motor regeneration torque of the vehicle for energy recovery in the sliding mode and the braking mode according to the driving behavior state information and the road condition information.
In the technical scheme, parameters such as the running speed, the vehicle acceleration, the vehicle gear information and the load weight of the whole vehicle of the vehicle CAN be acquired through the CAN network bus, so that the parameter input is provided for the energy recovery of the whole vehicle.
In addition, the energy recovery method of the invention also comprises the steps of judging the SOC range of the battery to identify whether the energy recovery can be carried out at the moment, if the energy recovery is allowed, further judging whether the current mode belongs to a coasting mode, a braking mode or an emergency braking mode, and executing the corresponding energy recovery step.
Through the arrangement, the acquisition unit can acquire the driving behavior state information of the vehicle and the road condition information in the driving direction of the vehicle, the energy recovery judgment unit judges whether the vehicle is in a sliding mode or a braking mode at present according to the information acquired by the acquisition unit, and finally, the energy recovery unit determines the motor regeneration torque of the vehicle for energy recovery according to the information acquired by the acquisition unit and the current recovery mode of the vehicle judged by the energy recovery judgment unit.
Embodiments of the present invention provide a computer-readable storage medium having program code stored therein, the program code being invoked by a processor to perform the energy recovery method described above.
As shown in fig. 5, an embodiment of the present invention provides a hybrid vehicle for performing the above-described energy recovery method.
It should be noted that the hybrid electric vehicle of the invention is added with the BSG motor, on one hand, the BSG motor can realize the specific functions of the hybrid electric system and can be adaptively expanded into different power system configurations; on the other hand, the cost of the whole vehicle is not too high.
In the technical scheme, the power system of the hybrid electric vehicle mainly comprises an engine, a transmission, a BSG motor, a 48V power battery pack, a motor inverter, a DCDC direct-current converter, a clutch, a 12V storage battery and a relevant controller. Specifically, the Vehicle Control System includes an Engine Control System (EMS), a Vehicle Control Unit (VCU), a Motor Control Unit (MCU), a Battery Management System (BMS), a Transmission Control Unit (TCU), and other Control subsystems, such as an ABS (Antilock Brake System) and an ESP (Electronic Stability Program), in the development of Vehicle Control. The VCU is used for receiving signals transmitted by an accelerator pedal and a brake pedal, the VCU is used as a core controller to coordinately control the running of a vehicle, the working area of an engine can be optimized on the basis of ensuring the power performance of the whole vehicle through the assistance of the BSG motor, and meanwhile, the vehicle is controlled to carry out effective energy recovery in the sliding and braking stages, mechanical energy is converted into electric energy to be stored, so that the effects of energy conservation and emission reduction of the whole vehicle are realized.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the driving mode of the vehicle refers to a vehicle manipulation mode manually selected by a driver through a key, such as an economy mode, a sport mode or a comfort mode; the driving style of the driver refers to big data information collected through intelligent network connection, and specifically, the driving behavior of the user, such as an aggressive type, a normal type or a mild type, is judged through big data such as background storage based on data indexes of driving performance of the driver (such as the number and frequency of steps on an accelerator and a brake pedal, the degree of steps on the accelerator and the brake pedal, the corresponding speed and acceleration of the vehicle, and the like). Therefore, the vehicle control unit can more accurately determine the motor regeneration torque of the vehicle for energy recovery in the sliding mode and the braking mode respectively according to the driving behavior state information and the road condition information, so that the hybrid electric vehicle can recover the energy based on multidimensional factors such as the driving behavior information and the road condition information, the defect that the efficiency and the effect of energy recovery are lower due to the fact that only a single factor is considered in the energy recovery of the vehicle in the prior art is overcome, and the vehicle control unit can further accurately determine the motor regeneration torque of the vehicle for energy recovery in the sliding mode and the braking mode respectively according to the driving behavior state information and the road condition informationAnd the energy recovery effect of the hybrid vehicle can be improved. When the vehicle is in the coast mode, the motor regenerative torque is determined by the following equation: f 1 _mot＝F 1 *(F a /F c )*(F b /F m ) When the vehicle is in the braking mode, the motor regenerative torque is determined by the following equation: f 2 _mot＝F 2 *(F a /F c )*(F b /F m ). In addition, the energy recovery method further comprises the steps of recovering energy according to multiple gears according to the driving behavior state information and the road condition information, judging whether the energy recovery mode is the weak energy recovery mode, and if so, reminding a driver to change the driving style and/or the driving route to enable the vehicle to recover more energy, so that the economy of the vehicle is further improved. The energy recovery method further comprises the steps of obtaining vehicle state information in the running process of the vehicle, wherein the vehicle state information comprises at least one of the speed, the acceleration, the load and the power source state of the vehicle, and information of an accelerator pedal and information of a brake pedal; whether the vehicle is in the coasting mode or the braking mode can be determined based on the vehicle state information. In addition, the invention also comprises an energy recovery system, which comprises an energy recovery judging unit, an obtaining unit and an energy recovery unit; the invention also comprises a computer readable storage medium, wherein the computer readable storage medium stores a program code, and the program code can be called by a processor to execute the energy recovery method; the invention also comprises a hybrid vehicle for carrying out the energy recovery method.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of recovering energy of a hybrid vehicle, characterized by comprising:
acquiring driving behavior state information of a vehicle, wherein the driving behavior state information at least comprises a driving mode of the vehicle and a driving style of a driver;
acquiring road condition information in the driving direction of a vehicle, wherein the road condition information at least comprises traffic light distribution conditions and traffic information;
and the vehicle control unit respectively determines the motor regenerative torque of the vehicle for energy recovery in a sliding mode and a braking mode according to the driving behavior state information and the road condition information.
2. The energy recovery method according to claim 1, wherein the motor regenerative torque is determined by the following equation when the vehicle is in a coasting mode:
F 1_mot ＝F 1 *(F a /F c )*(F b /F m )，
wherein, F 1 Recovering torque for the motor, F a The maximum braking force of the vehicle in running; f c The average value of the actual braking force of the vehicle under the current working condition is taken as the average value; f b Is the actual maximum braking force under the current road conditions, F m Maximum braking force for the electric machine, wherein F a 、F c 、F b And F m The units of (A) are all N.
3. The energy recovery method of claim 1, wherein when the vehicle is in a braking mode, the motor regenerative torque is determined by the following equation:
F 2 _mot＝F 2 *(F a /F c )*(F b /F m )，
wherein, F 2 To recover torque for braking, F a The maximum braking force of the vehicle in running; f c The average value of the actual braking force of the vehicle under the current working condition is taken as the average value; f b Is the actual maximum braking force under the current road conditions, F m Maximum braking force for the electric machine, wherein F a 、F c 、F b And F m The units of (A) are all N.
4. The energy recovery method according to claim 2 or 3, wherein after the step of determining the regenerative torque of the motor for energy recovery of the vehicle in the coasting mode and the braking mode, the energy recovery method further comprises energy recovery in a plurality of gears based on the driving behavior state information and the road condition information,
when the ratio is 0.8 ≦ (F) a /F c )*(F b /F m ) When the energy is less than 1, the energy recovery mode is strong;
when the ratio is 0.5 ≦ (F) a /F c )*(F b /F m ) When the frequency is less than 0.8, the mode is an intermediate energy recovery mode;
when 0 < (F) a /F c )*(F b /F m ) And when the frequency is less than 0.5, the energy recovery mode is a weak energy recovery mode.
5. The energy recovery method according to claim 4, further comprising determining whether the energy recovery mode is a weak energy recovery mode, and if not, prompting a driver for energy recovery; if so, the driver is prompted to change the driving style and/or driving route.
6. The energy recovery method according to any one of claims 1 to 3, further comprising:
acquiring vehicle state information in the running process of a vehicle, wherein the vehicle state information comprises at least one of the speed, the acceleration, the load and the power source state of the vehicle, accelerator pedal information and brake pedal information;
and judging whether the vehicle is in a coasting mode or a braking mode according to the vehicle state information, and if so, executing an energy recovery step.
7. The energy recovery method of claim 6, wherein the road condition information further comprises at least one of a distance between the vehicle and a preceding vehicle or an obstacle, a ground adhesion coefficient, and a turning condition of the vehicle.
8. An energy recovery system of a hybrid vehicle, characterized by comprising:
the energy recovery judging unit is used for judging whether the current vehicle is in a sliding mode or a braking mode;
the system comprises an acquisition unit, a communication unit and a communication unit, wherein the acquisition unit at least comprises a CAN network bus and an intelligent network connection control system, and is used for acquiring driving behavior state information of a vehicle and road condition information in the driving direction of the vehicle, the driving behavior state information at least comprises a driving mode of the vehicle and a driving style of a driver, and the road condition information at least comprises traffic light distribution conditions and traffic information;
and the energy recovery unit is used for determining the motor regeneration torque of the vehicle for energy recovery in a sliding mode and a braking mode according to the driving behavior state information and the road condition information.
9. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the energy recovery method according to any one of claims 1 to 7.
10. A hybrid vehicle characterized by being configured to perform the energy recovery method recited in any one of claims 1 to 7.
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