Energy recovery method and device, electric vehicle, and storage medium

1 . An energy recovery method for a vehicle having a vehicle wheel coupled to a motor, comprising:

acquiring vehicle travelling information, wherein the vehicle travelling information comprises road condition information and travelling status information;

acquiring a vehicle braking demand according to the road condition information and the travelling status information;

predicting a first motor braking feedback, representing a first motor feedback torque fed back from the vehicle wheel to the motor and a first motor feedback time of the first motor feedback during braking, according to the vehicle braking demand, without regard to external factors including whether the motor can withstand the first motor feedback torque;

acquiring a second motor braking feedback, an actual feedback torque allowed to be outputted by the vehicle wheel to the motor for energy recovery and battery charging, according to the first motor braking feedback; and

performing energy recovery according to the second motor braking feedback.

2 . The method according to claim 1 , wherein the acquiring a vehicle braking demand according to the road condition information and the travelling status information comprises:

acquiring a vehicle braking distance according to the road condition information and the travelling status information;

calculating a vehicle braking deceleration and a time corresponding to the deceleration according to the vehicle braking distance; and

calculating the vehicle braking demand according to the vehicle braking deceleration and the time corresponding to the deceleration.

3 . The method according to claim 1 , wherein the predicting a first motor braking feedback according to the vehicle braking demand comprises:

calculating a wheel end feedback torque during vehicle braking according to the vehicle braking demand;

acquiring the first motor feedback torque of the first motor braking feedback according to the wheel end feedback torque during vehicle braking; and

acquiring the first motor feedback time of the first motor braking feedback according to the first motor feedback torque, wherein the first motor feedback time is determined by the first motor feedback torque according to a battery pulse charging characteristic.

4 . The method according to claim 3 , wherein the acquiring the second motor braking feedback further comprises:

acquiring an optimal pulse charging power according to the battery pulse charging characteristic and the first motor braking feedback; and

acquiring the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and a motor-acceptable torque limit.

5 . The method according to claim 4 , wherein the acquiring the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and a motor-acceptable torque limit comprises:

determining a motor-allowed wheel end feedback torque according to the optimal pulse charging power, wherein the motor-allowed wheel end feedback torque is a torque allowed to be fed back from a vehicle wheel end to a motor in an optimal pulse charging power condition;

determining a wheel end demand torque for vehicle braking according to the vehicle braking demand, wherein the wheel end demand torque is a torque required for completing braking of the wheel end during braking of the vehicle;

determining a motor-acceptable maximum wheel end feedback torque according to the motor-acceptable torque limit, wherein the motor-acceptable maximum wheel end feedback torque is a motor-acceptable maximum torque fed back by the wheel end to the motor; and

selecting the smallest one of absolute values of the motor-allowed wheel end feedback torque, the wheel end demand torque for vehicle braking, and the motor-acceptable maximum wheel end feedback torque as a second motor feedback torque.

6 . The method according to claim 5 , further comprising:

providing a braking torque parameter to a braking controller according to the vehicle braking demand, to control the second motor feedback torque for vehicle braking; and

enabling mechanical braking if the braking torque parameter of the second motor feedback torque does not satisfy the vehicle braking demand.

7 . An energy recovery method for a vehicle having a vehicle wheel coupled to a motor, comprising:

acquiring vehicle travelling information, wherein the vehicle travelling information comprises road condition information and travelling status information;

acquiring a vehicle braking demand according to the road condition information and the travelling status information;

predicting a first motor braking feedback, representing a first motor feedback torque fed back from the vehicle wheel to the motor and a first motor feedback time of the first motor feedback during braking, according to the vehicle braking demand;

acquiring a second motor braking feedback, an actual feedback torque allowed to be outputted by the vehicle wheel to the motor for energy recovery and battery charging, according to the first motor braking feedback; and

performing energy recovery according to the second motor braking feedback, wherein the predicting a first motor braking feedback according to the vehicle braking demand comprises:

calculating a wheel end feedback torque during vehicle braking according to the vehicle braking demand;

acquiring the first motor feedback torque of the first motor braking feedback according to the wheel end feedback torque during vehicle braking; and

acquiring the first motor feedback time of the first motor braking feedback according to the first motor feedback torque, wherein the first motor feedback time is determined by the first motor feedback torque according to a battery pulse charging characteristic,

wherein the acquiring the second motor braking feedback further comprises:

acquiring an optimal pulse charging power according to the battery pulse charging characteristic and the first motor braking feedback; and

acquiring the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and a motor-acceptable torque limit, and

wherein the acquiring an optimal pulse charging power according to the battery pulse charging characteristic and the first motor braking feedback comprises:

acquiring the first motor feedback time and the first motor feedback torque of the first motor braking feedback;

acquiring a maximum battery pulse charging power according to the first motor feedback time and the first motor feedback torque;

acquiring a charging duration of the maximum battery pulse charging power according to a battery pulse charging characteristic corresponding to the maximum battery pulse charging power; and

determining the optimal pulse charging power according to the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristic, and the first motor feedback time.

8 . A non-transitory computer-readable storage medium containing computer-executable instructions for, when executed by one or more processors, performing an energy recovery method for a vehicle having a vehicle wheel coupled to a motor, the method comprising:

acquiring vehicle travelling information, wherein the vehicle travelling information comprises road condition information and travelling status information;

acquiring a vehicle braking demand according to the road condition information and the travelling status information;

predicting a first motor braking feedback, representing a first motor feedback torque fed back from the vehicle wheel to the motor and a first motor feedback time of the first motor feedback during braking, according to the vehicle braking demand, without regard to external factors including whether the motor can withstand the first motor feedback torque;

acquiring a second motor braking feedback, an actual feedback torque allowed to be outputted by the vehicle wheel to the motor for energy recovery and battery charging, according to the first motor braking feedback; and

performing energy recovery according to the second motor braking feedback.

9 . The non-transitory computer-readable storage medium according to claim 8 , wherein the acquiring a vehicle braking demand according to the road condition information and the travelling status information comprises:

acquiring a vehicle braking distance according to the road condition information and the travelling status information;

calculating a vehicle braking deceleration and a time corresponding to the deceleration according to the vehicle braking distance; and

calculating the vehicle braking demand according to the vehicle braking deceleration and the time corresponding to the deceleration.

10 . The non-transitory computer-readable storage medium according to claim 8 , wherein the predicting a first motor braking feedback according to the vehicle braking demand comprises:

calculating a wheel end feedback torque during vehicle braking according to the vehicle braking demand;

acquiring the first motor feedback torque of the first motor braking feedback according to the wheel end feedback torque during vehicle braking; and

acquiring the first motor feedback time of the first motor braking feedback according to the first motor feedback torque, wherein the first motor feedback time is determined by the first motor feedback torque according to a battery pulse charging characteristic.

11 . The non-transitory computer-readable storage medium according to claim 10 , wherein the acquiring the second motor braking feedback further comprises:

acquiring an optimal pulse charging power according to the battery pulse charging characteristic and the first motor braking feedback; and

acquiring the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and a motor-acceptable torque limit.

12 . The non-transitory computer-readable storage medium according to claim 11 , wherein the acquiring an optimal pulse charging power according to the battery pulse charging characteristic and the first motor braking feedback comprises:

acquiring the first motor feedback time and the first motor feedback torque of the first motor braking feedback;

acquiring a maximum battery pulse charging power according to the first motor feedback time and the first motor feedback torque;

acquiring a charging duration of the maximum battery pulse charging power according to a battery pulse charging characteristic corresponding to the maximum battery pulse charging power; and

determining the optimal pulse charging power according to the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristic, and the first motor feedback time.

13 . The non-transitory computer-readable storage medium according to claim 11 , wherein the acquiring the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and a motor-acceptable torque limit comprises:

determining a motor-allowed wheel end feedback torque according to the optimal pulse charging power, wherein the motor-allowed wheel end feedback torque is a torque allowed to be fed back from a vehicle wheel end to a motor in an optimal pulse charging power condition;

determining a wheel end demand torque for vehicle braking according to the vehicle braking demand, wherein the wheel end demand torque is a torque required for completing braking of the wheel end during braking of the vehicle;

determining a motor-acceptable maximum wheel end feedback torque according to the motor-acceptable torque limit, wherein the motor-acceptable maximum wheel end feedback torque is a motor-acceptable maximum torque fed back by the wheel end to the motor; and

selecting the smallest one of absolute values of the motor-allowed wheel end feedback torque, the wheel end demand torque for vehicle braking, and the motor-acceptable maximum wheel end feedback torque as a second motor feedback torque.

14 . The non-transitory computer-readable storage medium according to claim 13 , the method further comprising:

providing a braking torque parameter to a braking controller according to the vehicle braking demand, to control the second motor feedback torque for vehicle braking; and

enabling mechanical braking if the braking torque parameter of the second motor feedback torque does not satisfy the vehicle braking demand.